A method, system, device and storage medium for tissue fragmentation skip treatment planning

Abstract

The application discloses a kind of tissue fragmentation jump point treatment planning method, system, equipment and storage medium.The method comprises the following steps: generating original treatment point set according to the three-dimensional profile of target tissue and the spatial action range of single cavitation cloud;Then, according to the spatial position relationship between the treatment points, the cavitation cloud coverage relationship and the local thermal influence relationship, the multiple treatment points are divided into several treatment groups;Then, according to the focal point sound pressure corresponding to each treatment point, the treatment parameters, the sound propagation tissue medium and the tissue thermal parameters, the temperature change and the cumulative equivalent 43 DEG C heat dose corresponding to each treatment point, execution unit and treatment group are predicted;Finally, according to the heat influence degree between different treatment groups or execution units, the minimum time interval and the equipment moving cost, the treatment execution order is re-planned, and the heat management jump point treatment plan is generated.The application improves the treatment safety and overall efficiency, and can complete the prospective heat management planning without real-time temperature monitoring.

Description

Technical Field

[0001] This invention relates to the field of medical ultrasound therapy technology, and more specifically, to a method, system, device, and storage medium for planning jump points in tissue fragmentation surgery. Background Technology

[0002] Tissue disruption is a treatment technique that uses high-amplitude pulsed ultrasound to induce cavitation bubble clouds within target tissue, and then mechanically destroys the tissue through the expansion, oscillation, and collapse of these cavitation bubbles. Unlike thermal ablation techniques, which primarily rely on continuous heating to induce coagulative necrosis, tissue disruption mainly utilizes the mechanical effect of cavitation to achieve the disruption, liquefaction, or homogenization of the target tissue. It is suitable for non-invasive or minimally invasive treatment of lesions in solid organs such as the liver.

[0003] During tissue fragmentation treatment, the cavitation cloud formed by a single ultrasound focus can only cover a limited spatial area. For target tissues larger than the area affected by a single cavitation cloud, it is usually necessary to generate multiple treatment points within the target tissue based on the three-dimensional contour of the target tissue, the size of the single-point cavitation cloud, the spacing between treatment points, and the overlap rate of treatment points. The ultrasound focus is then sequentially moved to different treatment points through mechanical movement, electronic focus deflection, or a combination of both, to achieve coverage of the entire target area.

[0004] Existing treatment planning methods typically rely primarily on geometric coverage and movement efficiency. Common planning approaches include sequential scanning according to the spatial coordinates of treatment points, line-by-line scanning, serpentine scanning, layer-by-layer scanning, scanning from near to far, or determining the treatment sequence based on the shortest mechanical movement distance. While these methods can ensure the integrity of the treatment area coverage and reduce equipment movement distance to a certain extent, their treatment sequence is usually determined mainly by the geometric relationship between treatment points, and they do not adequately consider differences in acoustic output, tissue media, and local heat accumulation at different treatment points.

[0005] Although tissue disruption primarily relies on mechanical effects for its therapeutic effect, the therapeutic ultrasound still generates heat due to sound absorption and attenuation in the skin, fat, muscle, liver tissue, and other propagation media. The intensity of the heat source, the temperature rise range, and the rate of heat dissipation may vary depending on the focal sound pressure, driving voltage, treatment depth, pulse repetition frequency, number of pulse cycles, single-point treatment time, and the tissue medium along the sound propagation path.

[0006] When multiple spatially adjacent treatment points are treated consecutively, the heat generated at the previous treatment point may not have fully diffused and dissipated before the next treatment point continues to input acoustic energy. This can cause heat accumulation in tissues around the focal point, adjacent treatment areas, or tissues along the sound propagation path. Even if the temperature rise generated at a single treatment point does not reach the level of thermal damage, the cumulative heat dose formed after consecutive treatment at multiple adjacent treatment points may still increase, raising the risk of unintended thermal effects.

[0007] To reduce heat accumulation, some treatment protocols may set fixed cooling times between adjacent treatment points or after completing a certain number of treatment points. However, the sound pressure, treatment parameters, treatment depth, and tissue propagation path vary between different treatment points, resulting in different required cooling times. Using a uniform cooling time may lead to insufficient cooling of treatment areas with high heat loads, or excessive waiting time for treatment areas with low heat loads, thus increasing the overall treatment time.

[0008] Furthermore, existing treatment points are typically executed directly in the order they are generated, or simply ordered according to the row, column, layer, and mechanical movement distance of the treatment point, failing to fully utilize the treatment time and equipment movement time required to treat other spatially separated areas as natural cooling time. If the ultrasound focus could be switched to other areas with less thermal impact during the cooling period of a local area, a cooling interval could be provided for the treated area without increasing or only slightly increasing the waiting time.

[0009] In existing technologies, treatment points are generally treated as independent minimal planning objects, or ordered as a whole according to geometric layers or rows. There is a lack of a planning method that combines multiple treatment points into local treatment groups based on the spatial effect range of a single point cavitation cloud, and further evaluates the thermal impact relationships between different treatment groups. Because the thermal impact relationships between treatment point groups are not established, existing planning methods struggle to reorder the original set of treatment points based on the expected temperature rise, cumulative heat dose, and cooling requirements of different treatment groups.

[0010] The Cumulative Equivalent 43°C Minutes (CEM43) can be used to convert heat exposure at different temperatures and durations into an equivalent 43°C heat dose. By combining the predicted focal sound pressure at the treatment point, tissue absorption characteristics, treatment parameters, and temperature-time variations, the cumulative heat risk under different treatment sequences can be pre-assessed. However, current tissue fragmentation treatment planning typically does not integrate cavitation cloud-scale grouping, sound pressure estimation, heat dose prediction, and skip-point treatment sequence, nor does it determine the execution sequence of treatment groups based on the predicted thermal effects between treatment point groups.

[0011] Therefore, it is necessary to provide a new treatment planning scheme for tissue fragmentation, which generates a complete set of treatment points before treatment begins, divides multiple treatment points into multiple treatment groups based on the spatial range of the cavitation cloud at a single point, and further calculates the thermal impact and cooling requirements between different treatment groups based on the sound pressure, treatment parameters, tissue medium characteristics and expected heat dose of each treatment point or treatment group, and sorts the treatment groups accordingly, so as to reduce the heat accumulation caused by continuous treatment in adjacent areas while ensuring coverage of the target area, and taking into account the overall treatment efficiency.

[0012] The above background information is provided only to aid in understanding the inventive concept and technical solution of this invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above information was disclosed on the filing date of this patent application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0013] To address the shortcomings of existing technologies, this invention provides a method, system, device, and storage medium for planning jump points in tissue fragmentation treatment, thereby solving technical problems such as neglecting the risk of heat accumulation, rigid cooling strategies, lack of local thermal coupling evaluation, and low sequencing efficiency in existing tissue fragmentation treatment planning.

[0014] To achieve the above objectives, the present invention provides the following technical solution:

[0015] In a first aspect, the present invention provides a method for planning jump-point treatment in tissue fragmentation surgery, comprising:

[0016] S1: Obtain basic data for treatment planning, which includes at least the three-dimensional contour of the target tissue, the spatial range of a single cavitation cloud, transducer parameters, and tissue thermal parameters.

[0017] S2: Based on the three-dimensional contour of the target tissue, the spatial range of a single cavitation cloud, the spacing between treatment points, the overlap rate of treatment points, and the coverage requirements, multiple candidate treatment points are generated within the target tissue to form an original set of treatment points.

[0018] S3: Based on the cavitation cloud range corresponding to each treatment point, the three-dimensional spatial positional relationship between treatment points, and the local thermal influence relationship, the original set of treatment points is divided into multiple treatment groups, wherein each treatment group includes at least two treatment points.

[0019] S4: Based on the number of treatment points included in each treatment group, the thermal influence relationship within the group, and the equipment movement conditions, each treatment group is divided into one or more execution units, and each execution unit includes one or more treatment points belonging to the same treatment group;

[0020] S5: For each treatment point, estimate the focal sound pressure corresponding to that treatment point based on the transducer sound field calibration information, treatment point location, treatment depth, driving voltage, array element activation status, phase delay, and tissue medium in the sound propagation path.

[0021] S6: Based on the expected focal sound pressure or equivalent sound energy of each treatment point and the sound absorption characteristics of the sound propagation tissue, establish the expected heat source model corresponding to each treatment point;

[0022] S7: Based on the expected heat source, tissue thermal parameters, initial temperature and treatment time corresponding to each treatment point, execution unit or treatment group, calculate the expected temperature change during and after treatment, and calculate the cumulative equivalent 43℃ heat dose based on the expected temperature-time curve.

[0023] S8: For any two execution units, calculate the thermal impact of the previous execution unit on the next execution unit after completion, and establish a thermal impact matrix; and determine the minimum time interval required to switch from any execution unit to another execution unit according to the preset thermal safety conditions, and establish a time interval matrix.

[0024] S9: For each treatment group, determine the execution order of each treatment point or execution unit within the group;

[0025] S10: Based on the thermal effect matrix, time interval matrix, treatment time of each execution unit, and mechanical movement time of the equipment, sort the treatment group and execution units to generate the thermal management jump point treatment sequence;

[0026] S11: Establish a virtual treatment timeline before treatment begins and obtain a complete preset jump point treatment plan.

[0027] Optionally, in S3, one or more of the following conditions can be used to divide the original set of treatment points into treatment groups:

[0028] The spatial distance between treatment points is less than a preset distance threshold;

[0029] The overlap rate between the areas affected by single-point cavitation clouds is greater than the preset overlap threshold.

[0030] The localized coverage area formed by the combined action of multiple cavitation clouds is interconnected;

[0031] The degree of overlap between the heat-affected zones corresponding to the treatment points is greater than the preset thermal overlap threshold.

[0032] The continuity of mechanical movement between treatment points satisfies the preset path constraints;

[0033] The calculation results are based on spatial clustering algorithms or graph partitioning algorithms.

[0034] Optionally, in S3, for the remaining treatment points at the target tissue boundary that fail to form a treatment group according to the preset number, they are incorporated into the existing treatment group that is closest to them in terms of spatial distance, cavitation cloud coverage relationship or thermal influence relationship, so as to ensure that each treatment group includes at least two treatment points.

[0035] Optionally, in S4, each treatment group is divided into one or more execution units, and the execution unit is selected from one of the following three types:

[0036] The first execution unit, which is composed of all treatment points in the treatment group;

[0037] The second execution unit, which is composed of m treatment points arranged in a preset continuous order in the treatment group, where 2≤m<N, N is the total number of treatment points in the treatment group; wherein both m and N are positive integers;

[0038] The third execution unit, which is composed of a single treatment point in the treatment group.

[0039] Optionally, in S5, the focal sound pressure corresponding to the treatment point is estimated in at least one of the following manners:

[0040] Determined according to the voltage-sound pressure calibration relationship of the transducer in a water tank or a tissue phantom;

[0041] Calculated according to the array element sound field superposition model;

[0042] Calculated according to the numerical simulation result of the sound field;

[0043] Establish a lookup table based on historical test data;

[0044] Correct the calibrated sound pressure according to the treatment depth and tissue attenuation parameters;

[0045] Perform prediction according to a regression model or a machine learning model.

[0046] Optionally, in S6, the predicted heat source model includes at least one of the following heat sources:

[0047] A local heat source formed in the focal region;

[0048] A heat source formed by the tissue around the cavitation cloud;

[0049] A heat source from tissue absorption in the sound propagation path;

[0050] A superimposed heat source formed by overlapping thermal influence regions of a plurality of treatment points;

[0051] A combined heat source formed by continuous treatment of a plurality of treatment points in the same execution unit.

[0052] Optionally, in S7, the predicted temperature change is calculated in at least one of the following calculation manners:

[0053] Calculated based on biological heat transfer equations;

[0054] Calculations based on the finite element heat conduction model;

[0055] Calculations based on the finite difference heat conduction model;

[0056] Calculations based on analytical or semi-analytical temperature rise models;

[0057] Calculations based on empirical thermal response models established through tissue phantoms or animal experiments;

[0058] The predictive model is calculated based on historical treatment data.

[0059] Optionally, in S7, the formula for calculating the cumulative equivalent 43°C heat dose CEM43 is:

[0060]

[0061] Where T(t) is the expected temperature of the corresponding tissue location at time t; R is the heat dose conversion factor determined based on the temperature range.

[0062] Optionally, in S8, the thermal impact matrix represents the expected thermal impact on the execution unit after the execution unit is completed, wherein the expected thermal impact includes at least:

[0063] The expected temperature rise caused by the execution unit to the area where the execution unit is located;

[0064] The expected baseline temperature at the start of treatment by the execution unit;

[0065] The expected peak temperature after treatment by the two execution units in sequence;

[0066] The cumulative CEM43 after the two treatments were combined;

[0067] The degree of overlap between the thermally affected regions of the two execution units;

[0068] The degree of overlap of thermal effects between the acoustic propagation paths of the two execution units;

[0069] The minimum time interval required to switch from one execution unit to another.

[0070] Optionally, in S8, the time interval matrix middle, Indicates completion of execution unit Then start executing the unit The minimum time interval to be satisfied; said minimum time interval is determined based on at least one of the following conditions:

[0071] The expected baseline temperature at the start of treatment by the next execution unit shall not be higher than the preset starting temperature threshold.

[0072] The expected peak temperature after the next execution unit completes treatment should not exceed the preset upper limit of temperature.

[0073] The cumulative CEM43 after two treatments does not exceed the preset upper limit of thermal dose;

[0074] The temperature or heat dose in non-target tissues should not exceed the corresponding safety threshold.

[0075] Optionally, in S10, the generation of the thermal management jump point treatment sequence includes:

[0076] After completing the current execution unit, the next candidate execution unit is determined from other treatment groups that have not yet been completed;

[0077] The candidate execution unit must satisfy at least one or more of the following conditions:

[0078] The current planned time has met the corresponding minimum time interval;

[0079] The expected peak temperature after subsequent treatment will not exceed the preset upper limit;

[0080] The cumulative CEM43 formed by subsequent treatments does not exceed the preset safety threshold;

[0081] The degree of overlap with the thermal effect of the current treatment area is less than a preset threshold;

[0082] The heat load on non-target tissues in the sound propagation path meets safety requirements.

[0083] Optionally, obtaining a complete preset jump point treatment plan specifically includes: for each new execution unit determined, the virtual treatment timeline is updated, and it is determined whether subsequent candidate execution units meet the minimum time interval and thermal safety conditions; if there are no candidate execution units that meet the thermal safety conditions, a waiting time is inserted into the treatment plan until at least one candidate execution unit meets the treatment conditions; the above process is repeated until all treatment points are sorted to obtain a complete preset jump point treatment plan.

[0084] Optionally, the method further includes:

[0085] S12: Output the preset jump point treatment plan; the preset jump point treatment plan includes at least:

[0086] The three-dimensional spatial coordinates of each treatment point;

[0087] The driving voltage corresponding to each treatment point;

[0088] Phase delay and array element activation status at each treatment point;

[0089] Mechanical movement path between treatment points and treatment groups;

[0090] The expected peak temperature of each treatment point, execution unit, or treatment group;

[0091] The projected CEM43 for each treatment site, execution unit, or treatment group;

[0092] Thermal safety assessment results and related prompts.

[0093] Secondly, the present invention provides a tissue fragmentation surgery jump point treatment planning system, comprising:

[0094] The data acquisition module is used to acquire target tissue models, transducer information, treatment parameters, tissue acoustic parameters, and tissue thermal parameters.

[0095] The treatment point generation module is used to generate an original set of treatment points based on the target tissue outline, the range of a single cavitation cloud, the spacing between treatment points, and the overlap rate of treatment points.

[0096] The treatment group division module is used to divide the original treatment point into multiple treatment groups based on the three-dimensional spatial position between treatment points, the cavitation cloud coverage relationship, and the thermal impact relationship, wherein each treatment group includes at least two treatment points.

[0097] The execution unit generation module is used to identify one or more treatment points in each treatment group as execution units.

[0098] The sound pressure estimation module is used to estimate the focal sound pressure or equivalent sound energy of each treatment point based on the driving voltage, treatment depth, array element state, phase delay and tissue medium in the sound propagation path.

[0099] The thermal dose prediction module is used to calculate the expected temperature change and cumulative equivalent 43℃ thermal dose for each treatment point, execution unit or treatment group based on the focal sound pressure, pulse parameters, tissue sound absorption parameters and tissue thermal parameters.

[0100] The thermal impact calculation module is used to calculate the thermal impact between different execution units, the degree of overlap of thermal impact regions, and the minimum time interval, and to establish the thermal impact matrix and the time interval matrix.

[0101] The jump point path planning module is used to reorder the treatment group and execution unit based on thermal impact relationship, time interval, mechanical movement time and total treatment time to generate the jump point treatment sequence;

[0102] The treatment plan output module is used to output the treatment group division results, execution order, treatment parameters, mechanical movement path, time interval, and expected thermal dose.

[0103] Thirdly, the present invention provides a tissue fragmentation procedure jump-point treatment planning device, comprising:

[0104] processor;

[0105] A memory in which executable instructions of the processor are stored;

[0106] The processor is configured to perform the steps of the tissue fragmentation jump point treatment planning method described above by executing the executable instructions.

[0107] Fourthly, the present invention provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of the tissue fragmentation jump point treatment planning method described in any of the preceding claims.

[0108] Compared with the prior art, the present invention has the following beneficial effects:

[0109] 1. Reduce the risk of heat accumulation from continuous treatment of local tissues. This invention does not directly execute treatments continuously according to the original treatment point generation sequence, spatial sequence, or fixed geometric path. Instead, it re-plans the treatment sequence based on the expected thermal impact relationships between different treatment points and treatment groups. By skipping treatment points between treatment groups with minimal thermal impact, the time interval before adjacent local areas receive further treatment is increased, allowing the heat generated by previous treatments to diffuse and dissipate, thereby reducing the risk of heat accumulation in tissues around the focal point and along the sound propagation path.

[0110] 2. Achieving refined group management based on the cavitation cloud's effective range. This invention groups multiple treatment points into treatment groups based on the spatial effective range of a single cavitation cloud, the coverage relationship between treatment points, and the local thermal impact. Compared to treating all treatment points as independent planning objects, this approach can evaluate thermal effects and cooling requirements on a local treatment area basis, reducing the computational complexity of planning and improving the matching degree between the treatment sequence and the actual cavitation cloud coverage characteristics.

[0111] 3. Improve the consistency between treatment planning and actual sound output conditions. When determining the treatment sequence, this invention considers not only the spatial location of the treatment points but also comprehensively takes into account focal sound pressure, driving voltage, treatment depth, pulse repetition frequency, number of pulse cycles, treatment dose, sound propagation path length, and tissue medium characteristics. This reflects the differences in actual sound energy input and tissue absorption at different treatment points, avoiding the thermal risk assessment bias caused by determining the treatment sequence solely based on geometric distance.

[0112] 4. Achieving a unified quantitative evaluation of thermal effects through CEM43. This invention calculates the cumulative equivalent 43°C heat dose (CEM43) based on the expected temperature-time variation, converting thermal exposure at different temperature levels and durations into a unified heat dose index. By simultaneously considering the expected peak temperature and cumulative CEM43, the ability to evaluate unexpected thermal effects can be improved, avoiding the shortcomings of judging thermal safety solely based on the instantaneous highest temperature.

[0113] 5. Achieve differentiated cooling time planning. Different treatment points have varying sound pressure levels, treatment parameters, tissue media, and treatment depths, resulting in different amounts of heat generated and required cooling times. This invention calculates the thermal impact relationships between different treatment groups or execution units to determine the corresponding minimum time intervals, ensuring more thorough cooling of areas with higher heat loads while reducing unnecessary waiting in areas with lower heat loads.

[0114] 6. Utilize the execution time of other treatment areas to allow for natural cooling. After completing or partially completing one treatment area, the system can switch to another treatment group with less heat impact to continue treatment. During the execution of other treatment groups, the aforementioned treatment area can cool naturally, thus converting equipment movement time and the treatment time of other treatment groups into effective cooling time, reducing the decrease in treatment efficiency caused by simple downtime.

[0115] 7. Balancing thermal safety and overall treatment efficiency. While meeting temperature and thermal dosage safety constraints, this invention also comprehensively considers the mechanical movement distance and time between treatment groups, the number of remaining treatment points, and the overall treatment time. It selects the next treatment target from multiple candidate treatment groups that meet thermal safety conditions, thereby reducing unnecessary mechanical travel and additional waiting time while minimizing the risk of heat accumulation.

[0116] 8. Broader applicability due to independence from fixed geometric layers. This invention does not use radial, lateral, or other fixed geometric layers as the basis for treatment planning. Treatment groups can form regular or irregular three-dimensional spatial distributions based on cavitation cloud coverage and thermal effects. Therefore, this invention is applicable to spherical, ellipsoidal, and irregularly shaped target areas, and can also be used in conjunction with regular grids, serpentine fills, boundary-fitting fills, and other treatment point generation methods.

[0117] 9. Thermal management planning can be completed without real-time temperature monitoring. This invention completes sound pressure estimation, temperature prediction, CEM43 calculation, cooling time determination, and treatment sequence planning before treatment begins, ultimately outputting a fixed treatment plan. During treatment, no additional real-time temperature sensors are required, nor is it necessary to recalculate the treatment path online based on real-time thermal feedback. This reduces system hardware and control complexity and improves the repeatability and verifiability of the treatment plan.

[0118] 10. Improve the interpretability and safety auditability of treatment plans. This invention can output the treatment group division results, treatment point execution order, expected focal sound pressure, expected peak temperature, cumulative CEM43, minimum time interval, and planned execution time, so that each jump point selection has a clear acoustic and thermal basis, which facilitates treatment plan auditing, simulation verification, and safety evaluation.

[0119] 11. Facilitates integration with robot positioning and treatment control systems. The treatment plan output by this invention can directly include treatment point coordinates, treatment group division, execution sequence, driving voltage, pulse repetition frequency, treatment dose, mechanical movement path, and cooling time. It can be integrated with robot positioning mechanisms, ultrasonic emission control modules, and treatment planning systems to achieve automatic generation and sequential execution of treatment plans. Attached Figure Description

[0120] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0121] Figure 1 This is a flowchart illustrating the steps of a tissue fragmentation technique jump-point treatment planning method in an embodiment of the present invention.

[0122] Figure 2 A schematic diagram showing the focal sound pressure, sound propagation path, and expected heat-affected zone;

[0123] Figure 3 A schematic diagram of the treatment point set and treatment group grouping (top view from the xy plane);

[0124] Figure 4 A schematic diagram is provided to determine the expected temperature, CEM43, and minimum time interval.

[0125] Figure 5 This is a schematic diagram of a tissue fragmentation jump point treatment planning system according to an embodiment of the present invention;

[0126] Figure 6 This is a schematic diagram of a tissue fragmentation jump-point treatment planning device according to an embodiment of the present invention; and

[0127] Figure 7 This is a schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. Detailed Implementation

[0128] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0129] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0130] This invention provides a method, system, device, and storage medium for planning jump points in tissue fragmentation surgery, aiming to solve the problems existing in the prior art.

[0131] The technical solutions of the present invention and how they solve the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0132] This invention first generates an initial set of treatment points based on the three-dimensional contour of the target tissue and the spatial range of a single cavitation cloud. Then, based on the spatial relationships between treatment points, the coverage relationship of cavitation clouds, and the local thermal impact relationship, the multiple treatment points are divided into several treatment groups, with each treatment group including at least two treatment points. Next, based on the focal sound pressure, treatment parameters, sound propagation tissue medium, and tissue thermal parameters corresponding to each treatment point, the temperature changes and cumulative equivalent 43°C heat dose corresponding to each treatment point, execution unit, and treatment group are predicted. Finally, based on the degree of thermal impact between different treatment groups or execution units, the minimum time interval, and the cost of equipment movement, the treatment execution sequence is re-planned to generate a thermal management jump-point treatment plan.

[0133] The treatment group is formed based on the positional relationship of multiple treatment points in three-dimensional space, the range of cavitation cloud effect, and the thermal impact relationship, and can be distributed in a regular or irregular three-dimensional space. Treatment points within the same treatment group can be located at different depths and in different spatial directions, and are not required to be on the same plane. In this application, 'jump point' refers to: after the execution unit completes the treatment, the next execution unit does not select an execution unit that is adjacent to the current execution unit in terms of spatial position, cavitation cloud coverage relationship, or thermal impact relationship, but selects another execution unit that meets the preset minimum separation condition with the current execution unit in the above relationships, thereby realizing the non-continuous jump movement of the treatment focus in three-dimensional space.

[0134] The treatment plan is calculated before treatment begins and is executed in the pre-generated treatment sequence during treatment, without relying on real-time temperature feedback, real-time thermal dose monitoring or online path replanning.

[0135] Example 1

[0136] like Figure 1 As shown, a skip-point treatment planning method for tissue fragmentation surgery in this invention includes:

[0137] S1: Obtain basic data for treatment planning. The basic data should include at least the three-dimensional contour of the target tissue, the spatial range of a single cavitation cloud, transducer parameters, and tissue thermal parameters.

[0138] This step obtains the basic data for the treatment planning of tissue fragmentation surgery. The basic data includes at least the three-dimensional contour of the target tissue, the spatial range of a single cavitation cloud, transducer parameters, and tissue thermal parameters.

[0139] In specific embodiments, the basic data may include one or more of the following:

[0140] The three-dimensional contour, spatial location, size, and treatment safety boundaries of the target tissue;

[0141] The transducer's array element count, array element spatial location, operating frequency, geometric focal length, and sound field calibration data;

[0142] The spatial position and orientation of the transducer relative to the patient and target tissue;

[0143] The effective range of the cavitation cloud space formed by a single treatment;

[0144] Treatment point spacing, treatment point overlap rate, and target area coverage requirements;

[0145] The driving voltage, pulse repetition frequency, number of single pulse cycles, treatment dose, and treatment time at each treatment point;

[0146] The tissue type, sound velocity, density, sound attenuation coefficient, and sound absorption coefficient in the sound propagation path;

[0147] Specific heat capacity, thermal conductivity, blood perfusion parameters, and initial temperature of the tissue;

[0148] The mechanical movement speed, movement distance, and movement time of the treatment device between different treatment positions.

[0149] A transducer refers to an ultrasound therapy transducer. The treatment dose is the total acoustic energy input during a single-point treatment, and the single-point treatment time is the duration required to apply that treatment dose; these two are correlated through the pulse repetition frequency and single-pulse parameters. The treatment point overlap rate refers to the ratio of the volume intersection to the volume union of the cavitation cloud action areas corresponding to adjacent treatment points. The treatment safety boundary refers to the buffer zone formed by extending a preset distance (e.g., 2 mm) beyond the target tissue boundary, used to prevent treatment energy waves from affecting non-target tissues. The three-dimensional contour of the target tissue can be obtained based on the registration results of CT, MRI, ultrasound images, or multimodal medical images. Figure 2 This diagram illustrates the focal sound pressure, sound propagation path, and expected heat-affected zone (TAZ) of the transducer during operation. The transducer is shown at the top of the diagram, emitting an ultrasound beam that passes through the skin, fat, and muscle layers before converging on the target organ deep within. The diagram clearly shows the sound propagation path from the transducer to the target area, and the expected TAZ formed along this path. At the target organ, the sound energy is highly concentrated, forming a focal point and a cavitation cloud effect area. This area is surrounded by the expected TAZ of surrounding tissue, visually demonstrating the transmission and focusing process of ultrasound energy in human tissue and the distribution of thermal effects on different tissue layers.

[0150] The spatial range of a single cavitation cloud can be determined based on transducer acoustic field characteristics, tissue phantom experiments, animal experiments, historical treatment data, or acoustic field simulation results. It can be represented as an ellipsoidal, cylindrical, irregular three-dimensional region, or other spatial models capable of characterizing the range of a single treatment. The spatial range of a single cavitation cloud refers to the three-dimensional volume region enclosed by the -6 dB sound pressure isosurface of the cavitation bubble cloud formed in the tissue.

[0151] S2: Based on the three-dimensional contour of the target tissue, the spatial range of a single cavitation cloud, the spacing between treatment points, the overlap rate of treatment points, and the coverage requirements, multiple candidate treatment points are generated within the target tissue to form an original set of treatment points.

[0152] Based on the three-dimensional contour of the target tissue, the spatial range of a single cavitation cloud, the spacing between treatment points, the overlap rate of treatment points, and the coverage requirements, multiple candidate treatment points are generated within the target tissue to form an original set of treatment points:

[0153] For each treatment point, at least the following information should be recorded: treatment point number, three-dimensional spatial coordinates, corresponding driving voltage, pulse repetition frequency, number of single pulse cycles, treatment dose, expected single-point treatment time, and corresponding cavitation cloud effect area.

[0154] Treatment points can be generated using regular grids, serpentine fill, boundary-fitting fill, spatial sampling, volumetric fill, or other methods that can cover the target tissue.

[0155] The order in which the original treatment points are generated is used to record treatment point data and is not directly used as the final treatment execution order.

[0156] S3: Based on the cavitation cloud range corresponding to each treatment point, the three-dimensional spatial positional relationship between treatment points, and the local thermal influence relationship, the original set of treatment points is divided into multiple treatment groups, where each treatment group includes at least two treatment points.

[0157] Figure 3 This is a schematic diagram of the treatment point set and treatment group grouping, including sub-diagram (a) showing the distribution of treatment points and treatment groups in the xy plane (top view) and sub-diagram (b) showing the distribution of treatment points and treatment groups in the yz plane (side view). In sub-diagram (a), using x and y as coordinate axes, it shows the distribution of nine treatment groups (G1 to G9, represented by dashed boxes) within the target tissue boundary. Each treatment group contains multiple treatment points (represented by small circles). Sub-diagram (b), using y and z as coordinate axes, presents the distribution of treatment groups G1 to G9 and treatment points in different z layers (depths, divided into high <shallow>, middle layer, and low <deep>) within the target tissue from a side view. Both diagrams are accompanied by legends on the right, clearly indicating that small circles represent treatment points, dashed boxes represent treatment group boundaries (example), and solid lines represent target tissue boundaries, clearly demonstrating the grouping and distribution logic of treatment points in planar and three-dimensional space. Based on the cavitation cloud effect range corresponding to each treatment point, the three-dimensional spatial relationship between treatment points, and the local thermal effect, the original set of treatment points is divided into multiple treatment groups:

[0158]

[0159] Each treatment group includes at least two treatment points.

[0160] The division of treatment groups can be based on one or more of the following criteria:

[0161] Spatial distance between treatment points;

[0162] The degree of overlap between the areas affected by single-point cavitation clouds;

[0163] A localized coverage area formed by the combined action of multiple cavitation clouds;

[0164] The degree of overlap between the heat-affected zones corresponding to the treatment points;

[0165] mechanical movement continuity between treatment points;

[0166] local geometry of the target tissue;

[0167] preset number of treatment points;

[0168] calculation results of a spatial clustering algorithm, a graph partitioning algorithm or other grouping algorithms.

[0169] The mechanical movement continuity means that when the treatment device moves from one treatment point to another, no additional posture adjustment, crossing of a safety boundary or unexpected large-angle steering is required, and the motion trajectory deviation does not exceed the preset path tolerance.

[0170] The treatment points in the same treatment group may be distributed at different spatial depths, and may integrally form an irregular three-dimensional point cluster.

[0171] For remaining treatment points at the boundary of the target tissue that fail to form a treatment group according to the preset number, the remaining treatment points are incorporated into the existing treatment group that is closest in spatial distance, cavitation cloud coverage relationship or thermal influence relationship, so as to ensure that each treatment group includes at least two treatment points.

[0172] S4: According to the number of treatment points included in each treatment group, the intra-group thermal influence relationship and the device motion condition, each treatment group is divided into one or more execution units, and each execution unit comprises one or more treatment points belonging to the same treatment group.

[0173] According to the number of treatment points included in each treatment group, the intra-group thermal influence relationship and the device motion condition, each treatment group is divided into one or more execution units.

[0174] Each execution unit comprises one or more treatment points, and belongs to the same treatment group.

[0175] The execution unit is selected from one of the following three types:

[0176] a first execution unit, constituted by all treatment points in the treatment group;

[0177] a second execution unit, constituted by m treatment points arranged in a preset continuous sequence in the treatment group, where 2≤m<N, N is the total number of treatment points in the treatment group; and m and N are both positive integers;

[0178] a third execution unit, constituted by a single treatment point in the treatment group.

[0179] In this step, one treatment group is divided into a plurality of treatment units to be executed in batches.

[0180] By setting up execution units, the entire treatment group can be completed in one go or in stages, depending on the heat load and equipment movement requirements within the group.

[0181] S5: For each treatment point, estimate the focal sound pressure corresponding to that treatment point based on the transducer sound field calibration information, treatment point location, treatment depth, driving voltage, array element activation status, phase delay, and tissue medium in the sound propagation path.

[0182] The phase delay in this step refers to the phase delay of the transmitted signal of each array element channel relative to the reference channel. Focus position deflection or depth adjustment is achieved by adjusting the phase difference between different array elements. The expected focal sound pressure level at each treatment point can be expressed as:

[0183] in:

[0184] For the first The expected focal sound pressure level at each treatment point;

[0185] This corresponds to the driving voltage;

[0186] Information on the array elements participating in the launch and their weights;

[0187] This refers to phase delay or focusing parameters;

[0188] The length of the sound propagation path;

[0189] The equivalent attenuation parameter for the sound propagation path;

[0190] Information about the organizational medium in the sound propagation path.

[0191] Focused sound pressure level can be obtained through one or more of the following methods:

[0192] Determined based on the voltage-sound pressure calibration relationship of the transducer in the water tank or tissue phantom;

[0193] Calculated based on the array element sound field superposition model;

[0194] Calculated based on the results of numerical simulation of the sound field;

[0195] A lookup table was created based on historical test data;

[0196] The calibrated sound pressure was corrected based on the treatment depth and tissue attenuation parameters;

[0197] Predictions are made based on regression or machine learning models.

[0198] By further combining the pulse repetition frequency, the number of single pulse cycles, the number of pulses, and the treatment time at a single point, the equivalent acoustic energy input corresponding to each treatment point is calculated.

[0199] For high-amplitude nonlinear pulse ultrasound, experimental calibration coefficients, tissue correction coefficients, or empirical models can be used to correct the calculation results.

[0200] S6: Based on the expected focal sound pressure or equivalent sound energy of each treatment point, and the sound absorption characteristics of the sound propagation tissue, establish the expected heat source model corresponding to each treatment point.

[0201] The heat source is expected to include:

[0202] Local heat sources formed in the focal area;

[0203] The heat source formed around the cavitation cloud;

[0204] The tissue absorbs the heat source in the sound propagation path;

[0205] Multiple treatment points with overlapping thermally affected areas form a superimposed heat source.

[0206] A combined heat source formed by continuous treatment at multiple treatment points within the same execution unit.

[0207] No. The expected heat source for each treatment point is related to at least the following parameters:

[0208] Focus sound pressure level or equivalent sound energy;

[0209] Drive voltage;

[0210] Pulse repetition frequency;

[0211] Number of single pulse cycles;

[0212] Therapeutic dosage;

[0213] Single-point treatment time;

[0214] Treatment depth;

[0215] Sound propagation path length;

[0216] Tissue sound absorption coefficient;

[0217] Organizational types in the sound propagation path.

[0218] For treatment groups or execution units, the heat sources of each treatment point are superimposed in time and space according to the spatial location, treatment sequence, and treatment duration of each treatment point.

[0219] S7: Based on the expected heat source, tissue thermal parameters, initial temperature and treatment time corresponding to each treatment point, execution unit or treatment group, calculate the expected temperature change during and after treatment, and calculate the cumulative equivalent 43℃ heat dose based on the expected temperature-time curve.

[0220] Temperature changes can be calculated using one or more of the following methods: biological heat transfer equations, finite element heat conduction models, finite difference heat conduction models, analytical or semi-analytical temperature rise models, empirical thermal response models based on tissue phantoms or animal experiments, and predictive models based on historical treatment data.

[0221] The temperature calculation model can comprehensively consider the heat source formed by ultrasound absorption, tissue heat conduction, blood perfusion heat dissipation, heat exchange of surrounding tissues, and the natural cooling process after treatment.

[0222] Based on the predicted temperature-time curve, the cumulative equivalent heat dose (CEM43) at 43°C was calculated, and the heat exposure at different temperatures and durations was uniformly converted into equivalent minutes at 43°C.

[0223] in: For the corresponding organizational location in time The expected temperature; This is the heat dose conversion factor determined based on the temperature range.

[0224] CEM43 is used to evaluate the unexpected thermal effects generated during tissue fragmentation treatment.

[0225] This embodiment determines whether the next execution unit meets the preset thermal safety conditions by predicting the base temperature of the tissue after cooling and the additional heat dose generated by subsequent treatment.

[0226] S8: For any two execution units, calculate the thermal impact of the previous execution unit on the next execution unit after completion, and establish a thermal impact matrix; and determine the minimum time interval required to switch from any execution unit to another execution unit according to the preset thermal safety conditions, and establish a time interval matrix.

[0227] For any two execution units, calculate the thermal impact of the previous execution unit on the subsequent execution unit after completion.

[0228] Let the previous execution unit be The next candidate execution unit is The thermal effects include at least:

[0229] Execution unit For execution unit The expected temperature rise in the region;

[0230] Execution unit Expected baseline temperature at the start of treatment;

[0231] The expected peak temperature after treatment by the two execution units in sequence;

[0232] The cumulative CEM43 after the two treatments were combined;

[0233] The degree of overlap between the thermally affected regions of the two execution units;

[0234] The degree of overlap of thermal effects between the acoustic propagation paths of the two execution units;

[0235] From the execution unit Switch to execution unit The minimum time interval required to be met.

[0236] In this embodiment, the minimum time interval refers to the timing cooling interval, which is the minimum time required for the execution unit to switch.

[0237] Based on the above thermal effects, establish a thermal effect matrix:

[0238] in, Indicates completion of execution unit Then the execution unit The expected thermal effects.

[0239] Further establish the time interval matrix:

[0240]

[0241] in, Indicates completion of execution unit Then start executing the unit The minimum time interval required to be met.

[0242] The minimum time interval can be determined based on one or more of the following conditions:

[0243] The expected baseline temperature at the start of treatment in the next execution unit is not higher than the preset threshold.

[0244] The expected peak temperature after the next execution unit completes treatment should not exceed the preset upper limit;

[0245] The cumulative CEM43 after two treatments does not exceed the preset upper limit of thermal dose;

[0246] The temperature or heat dose in non-target tissues should not exceed the corresponding safety threshold.

[0247] The expected base temperature refers to the initial temperature at which the next execution unit begins treatment, after a certain cooling time following the treatment by the previous execution unit. If the thermal impact between the two execution units is small, the minimum time interval can be directly satisfied by the mechanical movement time of the equipment.

[0248] Figure 4 This diagram illustrates the determination of expected temperature, CEM43, and minimum time interval, consisting of four subplots. Subplot (a) shows the temperature change over time after the first treatment unit, indicating that the temperature initially rises rapidly above the safe temperature threshold and then gradually decreases, with different time points t1 to t4 marked. Subplot (b) depicts the temperature superposition when the second treatment unit is performed after different time intervals (t1, t2, t3, t4). The curve shows that if the interval is short (e.g., t1, t2), the superimposed peak temperature will exceed the safe threshold, while a longer interval can keep it within a safe range. Subplot (c) presents the cumulative CEM43 results for different time intervals. As the time interval increases from t1 to t4, the relative value of CEM43 gradually decreases, falling below the safe CEM43 threshold at time t3. Subgraph (d) summarizes the logic for determining the minimum time interval based on the above analysis: when the interval is too short (such as t1 or t2), the peak temperature or the cumulative value of CEM43 will exceed the standard; only when the time interval reaches a sufficient value (such as t3) will both indicators be lower than the safety threshold, thus determining t3 as the minimum safe time interval.

[0249] S9: For each treatment group, determine the execution order of each treatment point or execution unit within the group.

[0250] The execution order within a group can be one or more of the following methods: execution according to the order in which treatment points are generated, execution according to the order in which mechanical movement distance is shorter, execution according to a serpentine path, sorting according to the focal sound pressure or expected heat load, sorting according to the heat influence relationship within the group, or dividing the treatment group into multiple execution units to be completed in stages.

[0251] When continuous treatment within a group meets the temperature and heat dose requirements, the same treatment group can be completed continuously; when continuous treatment within a group may cause high heat accumulation, one execution unit can be completed and then switched to another treatment group, and returned after the corresponding time interval is met.

[0252] S10: Based on the thermal effect matrix, time interval matrix, treatment time of each execution unit, and mechanical movement time of the equipment, sort the treatment group and execution units to generate the thermal management jump point treatment sequence.

[0253] After completing the current execution unit, the next candidate execution unit is determined from the other treatment groups that have not yet been completed. Completion of the current execution unit refers to the moment when all treatment points corresponding to that execution unit have finished emitting acoustic energy.

[0254] Candidate execution units must meet at least one or more of the following conditions: the current planned time has met the corresponding minimum time interval, the expected peak temperature after subsequent treatment does not exceed the preset upper limit, the cumulative CEM43 formed by subsequent treatment does not exceed the preset safety threshold, the degree of overlap with the thermal impact of the current treatment area is less than the preset threshold, and the thermal load of non-target tissues in the sound propagation path meets the safety requirements.

[0255] Among the candidate execution units that meet the thermal safety conditions, the following factors can be further considered to determine the next execution unit: degree of thermal impact, spatial distance, mechanical movement time, number of remaining treatment points, driving voltage and pulse parameters, treatment depth, total treatment time, transducer movement range and movement limitations.

[0256] The treatment group number is used to distinguish different treatment groups. It is only used to differentiate between different three-dimensional spatial treatment groups and does not indicate that there is a fixed spatial hierarchy between treatment groups.

[0257] By switching between different treatment groups, the treatment time of other treatment groups and the equipment travel time can be used to provide natural cooling time for the treated area. Natural cooling time refers to the cooling time obtained by the treated area through tissue heat diffusion and blood perfusion during the execution of other treatment groups, excluding additional waiting time.

[0258] S11: Establish a virtual treatment timeline and obtain a complete preset jump point treatment plan.

[0259] A virtual treatment timeline is established before treatment begins. The virtual treatment timeline refers to the time-to-execution unit mapping relationship constructed during the treatment planning phase, recording the estimated start time, estimated end time, and time intervals between each execution unit. The virtual treatment timeline includes at least: the estimated start time of each execution unit, the estimated end time of each execution unit, the mechanical movement time between treatment points, the mechanical switching time between treatment groups, the natural cooldown time incurred from executing other treatment groups, and additional waiting time inserted if necessary. Waiting time is the additional cooling-off waiting time inserted when the difference between the current time on the virtual timeline and the preset start time of the candidate execution unit is less than the minimum safe cooldown interval.

[0260] Each time a new execution unit is determined, the virtual treatment timeline is updated, and it is determined whether subsequent candidate execution units meet the minimum time interval, peak temperature constraints, and CEM43 constraints.

[0261] If no candidate execution unit meets the thermal safety conditions, a waiting time is inserted into the treatment plan until at least one candidate execution unit meets the treatment conditions.

[0262] Repeat the above process until all treatment points are sorted to obtain a complete preset jump point treatment plan.

[0263] In some embodiments, the following is also included:

[0264] S12: Output the preset jump point treatment plan.

[0265] The output is a preset jump point treatment plan used to control the tissue fragmentation treatment device. The preset jump point treatment plan includes at least the following:

[0266] Original treatment point set;

[0267] Treatment group division results;

[0268] The treatment points included in each treatment group;

[0269] The execution units included in each treatment group;

[0270] The execution sequence of the treatment group and the execution unit;

[0271] The three-dimensional spatial coordinates of each treatment point;

[0272] The driving voltage corresponding to each treatment point;

[0273] The pulse repetition frequency, number of pulse cycles, and treatment dose corresponding to each treatment point;

[0274] Phase delay and array element activation status at each treatment point;

[0275] Mechanical movement path between treatment points and treatment groups;

[0276] The estimated start and end times for each execution unit;

[0277] The natural cooldown time or additional waiting time for each treatment area;

[0278] The expected peak temperature of each treatment point, execution unit, or treatment group;

[0279] The projected CEM43 for each treatment site, execution unit, or treatment group;

[0280] Thermal safety assessment results and related prompts.

[0281] The treatment equipment controls the robot positioning mechanism, transducer, and pulse emission module to complete the treatment sequentially according to the preset jump point treatment plan.

[0282] Example 2

[0283] like Figure 5 As shown, the present invention also provides a tissue fragmentation procedure jump point treatment planning system, comprising:

[0284] The data acquisition module is used to acquire target tissue models, transducer information, treatment parameters, tissue acoustic parameters, and tissue thermal parameters.

[0285] The treatment point generation module is used to generate an original set of treatment points based on the target tissue outline, the range of a single cavitation cloud, the spacing between treatment points, and the overlap rate of treatment points.

[0286] The treatment group division module is used to divide the original treatment point into multiple treatment groups based on the three-dimensional spatial location, cavitation cloud coverage relationship and thermal influence relationship between treatment points, wherein each treatment group includes at least two treatment points.

[0287] The execution unit generation module is used to identify one or more treatment points in each treatment group as execution units.

[0288] The sound pressure estimation module is used to estimate the focal sound pressure or equivalent sound energy at each treatment point based on the driving voltage, treatment depth, array element state, phase delay, and tissue medium in the sound propagation path.

[0289] The thermal dose prediction module is used to calculate the expected temperature change and cumulative equivalent 43℃ thermal dose for each treatment point, execution unit, or treatment group based on the focal sound pressure, pulse parameters, tissue sound absorption parameters, and tissue thermal parameters.

[0290] The thermal impact calculation module is used to calculate the thermal impact between different execution units, the degree of overlap of thermal impact regions, and the minimum time interval, and to establish the thermal impact matrix and the time interval matrix.

[0291] The jump point path planning module is used to reorder the treatment group and execution unit based on thermal impact relationship, time interval, mechanical movement time and total treatment time, and generate the jump point treatment sequence.

[0292] The treatment plan output module is used to output the treatment group division results, execution order, treatment parameters, mechanical movement path, time interval, and expected thermal dose.

[0293] Specifically, the data acquisition module is responsible for collecting and integrating all prior information from external inputs. This includes the three-dimensional model of the target tissue, the array element parameters and sound field calibration of the ultrasound transducer, preset treatment parameters (voltage, frequency, etc.), and the acoustic properties (attenuation / absorption coefficient) and thermal properties (density, specific heat capacity, thermal conductivity, blood perfusion) of each tissue layer (skin, fat, muscle, etc.) along the sound propagation path. This module provides the fundamental physical and geometric basis for all subsequent calculations.

[0294] The treatment point generation module automatically distributes candidate treatment points in three-dimensional space based on the target tissue contour and the spatial range of a single cavitation cloud, according to the preset treatment point spacing and overlap rate, forming an "original treatment point set". Each point is accompanied by three-dimensional coordinates, depth and corresponding initial driving parameters, but the generation order is only a data record and does not represent the final execution order.

[0295] The treatment group partitioning module divides the original dataset into multiple treatment groups based on the spatial distance between treatment points, the degree of overlap of cavitation cloud coverage, and the correlation of local thermal effects. Each treatment group is a three-dimensional point cluster. Each treatment group contains at least two points, and the points within the group can be at different depths. This module transforms the macroscopic coverage problem into the "packaging" management of local areas, reducing the complexity of subsequent planning.

[0296] The execution unit generation module defines one or more treatment points within a group as an "execution unit" (i.e., the smallest block of tasks that the device actually executes continuously). A treatment group can be treated as a whole as a unit or broken down into multiple subset units. This design allows the system to skip to the next point after completing only a portion of the points when the thermal load within the group is too high, and then return later, enhancing the flexibility of skip point planning.

[0297] The sound pressure estimation module calculates the actual focal sound pressure or equivalent sound energy at each treatment point by combining the transducer element state, phase delay, driving voltage, and tissue attenuation along the sound path. It converts electrical parameters (voltage) into mechanical / acoustic parameters (sound pressure), providing a quantitative "energy input source" for predicting thermal effects.

[0298] The heat dose prediction module constructs a heat source model based on the energy input provided by the sound pressure estimation module and the tissue sound absorption characteristics. It then uses the biological heat transfer equation to solve for the temperature field change over time and calculates the cumulative equivalent 43°C heat dose (CEM43). This module converts sound energy into quantifiable biological thermal effects (peak temperature and cumulative thermal damage risk).

[0299] The thermal impact calculation module simulates the thermal superposition effect when any two execution units are executed sequentially. It calculates the expected temperature rise and the degree of thermal region overlap caused by the preceding unit to the following unit, and deduces the minimum time interval required between the two units based on preset safety thresholds (peak temperature upper limit, CEM43 upper limit). Finally, it outputs a thermal impact matrix (H) and a time interval matrix (T).

[0300] The jump point path planning module reads the thermal impact matrix and time interval matrix, and combines them with the mechanical movement time of the equipment to globally sort all treatment groups and execution units. It is responsible for selecting the next target unit that meets the "thermal safety conditions and has a moderate movement cost" at the current moment. By "jumping" back and forth between thermal isolation areas, it utilizes the treatment time for natural cooling and ultimately generates the optimal jump point execution order.

[0301] The treatment plan output module compiles the planning results into a standardized treatment plan that can be directly executed by the device. The output list includes treatment group division details, global execution order, three-dimensional coordinates and drive parameters of each point, mechanical movement path, virtual time axis (including cooling waiting time), and expected peak temperature and CEM43 audit data, which serve as the basis for the treatment control system to execute.

[0302] like Figure 5 As shown, in the workflow, the data acquisition module transmits data to both the sound pressure estimation module and the treatment point generation module. The treatment point generation module then transmits information to both the heat dose prediction module and the treatment group division module. The treatment group division module and the execution unit generation module interact bidirectionally, while the execution unit generation module also transmits information to the jump point path planning module. In the intermediate calculation chain, the output of the sound pressure estimation module enters the heat dose prediction module, the result of which is passed to the heat effect relationship calculation module, which then outputs to the jump point path planning module. The outputs of the jump point path planning module, the sound pressure estimation module, and the heat dose prediction module all converge into the treatment plan output module, completing the entire process from data acquisition to treatment planning.

[0303] In some embodiments, a treatment control module is also included, which controls the robot positioning mechanism and the ultrasound treatment transducer according to the treatment plan to complete the tissue fragmentation treatment according to the corresponding treatment parameters. As the execution terminal of the entire system, the treatment control module is mainly responsible for converting the instructions generated by the jump-point path planning module, such as the treatment sequence, mechanical movement path, parameters of each treatment point, and time intervals, into actual physical operations. It drives the robot positioning mechanism to move the ultrasound transducer sequentially to the predetermined positions of each execution unit according to the planned sequence, and, based on the sound pressure estimation and heat dose prediction results, precisely controls the transducer to emit focused ultrasound with the set driving voltage, phase delay, and pulse parameters to complete the tissue fragmentation. Simultaneously, this module strictly follows the minimum time interval calculated by the thermal effect relationship module, forcing sufficient heat dissipation time between adjacent treatment points to avoid excessive heat accumulation. Furthermore, it also undertakes real-time monitoring to ensure that the output parameters are consistent with the plan, and has the ability to stop or adjust in case of abnormalities, thereby ensuring the safety and reliability of the treatment process.

[0304] Example 3: Generation of treatment points and division of treatment groups in the target area of ​​the liver

[0305] This embodiment uses the target area within the liver as an example.

[0306] First, obtain the three-dimensional contour of the target tissue based on preoperative or intraoperative medical images. These medical images can be CT, MRI, ultrasound images, or registered multimodal medical images.

[0307] Based on the 3D boundary of the target area, the treatment safety boundary, the effective range of the single-point cavitation cloud, and the overlap rate of treatment points, multiple candidate treatment points are generated within the target area. The effective range of the single-point cavitation cloud adopts a 3D spatial model that matches the actual treatment system, with its major axis direction consistent with the main axis direction of the treatment focus.

[0308] In this embodiment, the maximum scale of the target area is on the order of tens of millimeters, and the effective range of the cavitation cloud corresponding to a single treatment point is on the order of millimeters. Based on the coverage integrity requirement, a complete set of treatment points is generated:

[0309]

[0310] For each treatment point, at least the three-dimensional coordinates, treatment depth, corresponding driving parameters, single-point treatment time, and cavitation cloud effect area should be recorded.

[0311] After the treatment points are generated, they are not divided into radial layers according to radial distance, nor are the advancement relationships between adjacent radial layers established. Instead, the treatment points are grouped according to their spatial location, cavitation cloud coverage, and local thermal influence.

[0312] For example, several treatment points that are spatially close and whose cavitation clouds jointly cover the same local tissue area are divided into treatment groups. Another group of treatment points with independent local coverage areas were designated as the treatment group. Formed sequentially:

[0313]

[0314] Each treatment group may include two, three, four or more treatment points. In one embodiment, each treatment group preferably includes four treatment points. For the remaining treatment points at the boundary of the target area that cannot meet the requirement of a fixed number of groupings, they can form a separate treatment group or be merged into the treatment group that is closest to their cavitation cloud coverage. In this embodiment, "closest" refers to the smallest spatial distance, the largest cavitation cloud volume overlap rate, or the smallest expected thermal impact superposition value; and a preset priority rule is used for determination, such as prioritizing the smallest spatial distance and secondarily selecting the smallest thermal impact superposition value.

[0315] Treatment groups can have irregular three-dimensional shapes, and treatment points within the same treatment group can be located at different depths, and are not required to be on the same plane or in the same geometric layer.

[0316] Example 4: Sound Pressure Level Estimation at the Treatment Point Focal Point

[0317] For each treatment point, the corresponding focal sound pressure is estimated based on the spatial position of the transducer elements, the activation state of the elements, the phase delay, the driving voltage, the location of the treatment point, and the tissue medium in the sound propagation path.

[0318] In one implementation, a calibration relationship between the transducer drive voltage and the focal sound pressure is established beforehand in a water tank or tissue phantom. Based on the treatment depth and sound propagation path corresponding to the treatment point, the sound attenuation caused by skin, fat, muscle, and liver tissue is calculated, and the calibrated sound pressure is corrected.

[0319] No. The expected focal sound pressure level at each treatment point can be expressed as:

[0320]

[0321] in:

[0322] For driving voltage The corresponding calibrated sound pressure level;

[0323] The correction coefficient is obtained by comprehensively considering treatment depth, tissue attenuation, array element activation status, and focusing conditions.

[0324] In another implementation, the expected focal sound pressure or equivalent sound energy of each treatment point can be directly obtained through an array element sound field superposition model, a numerical sound field simulation model, a historical experiment lookup table, or a machine learning model.

[0325] By further combining the pulse repetition frequency, the number of single pulse cycles, the number of pulses, and the treatment time at a single point, the equivalent acoustic energy input at that treatment point during one treatment process is calculated.

[0326] Example 5: Temperature Change and Cumulative Equivalent Heat Calculation at 43℃

[0327] Based on the expected focal sound pressure, equivalent sound energy input, and sound absorption parameters of the corresponding tissues at each treatment point, a heat source model corresponding to the treatment point is established.

[0328] The heat source model should include at least:

[0329] Local heat sources within the focal area;

[0330] Thermal effects around the area affected by cavitation clouds;

[0331] The tissues along the sound propagation path absorb heat sources;

[0332] The heat superposition is formed by continuous treatment at multiple treatment points.

[0333] Subsequently, based on tissue density, specific heat capacity, thermal conductivity, blood perfusion parameters, and initial temperature, the expected temperature changes during and after treatment were calculated.

[0334] In one implementation, a biological heat transfer model is used to calculate the temperature field. For the first... For each treatment point, calculate the temperature-time curve over a certain time range from the start of treatment to the end of treatment:

[0335] The cumulative equivalent heat dose at 43℃ was calculated based on the temperature-time curve.

[0336] in, This is the heat dose conversion factor determined based on the temperature range.

[0337] For the treatment group Based on the execution order and time interval of each treatment point within the group, the temperature field and heat dose of each treatment point are superimposed over time to obtain the expected peak temperature and cumulative CEM43 corresponding to the treatment group.

[0338] In this embodiment, CEM43 is used to evaluate the unexpected thermal effects that may occur during tissue fragmentation treatment, rather than to achieve the thermal ablation dose as the treatment goal.

[0339] Example 6: Calculation of thermal effect relationship and minimum time interval between treatment groups

[0340] For any two treatment groups and Simulation of the treatment group first The treatment group was then administered the treatment at different time intervals. The situation.

[0341] For each candidate time interval, at least the following should be calculated:

[0342] Treatment group Expected baseline temperature at the start of treatment;

[0343] Treatment group The expected peak temperature after completion;

[0344] The cumulative CEM43 after continuous treatment in both treatment groups;

[0345] The degree of overlap of the heat-affected areas between the two treatment groups;

[0346] Thermal load on non-target tissues along the sound propagation path in both treatment groups.

[0347] A time interval is considered acceptable if it meets all of the following conditions:

[0348] The expected temperature at the start of treatment for the next treatment group is not higher than the preset starting temperature threshold.

[0349] The expected peak temperature after treatment in the second treatment group should not exceed the preset upper limit of temperature;

[0350] The cumulative CEM43 does not exceed the preset upper limit of thermal dose;

[0351] The heat load on skin, fat, muscle and other non-target tissues should not exceed the safety threshold.

[0352] Select the minimum value from multiple time intervals that meet the criteria, and use it as the treatment group. To the treatment group minimum time interval between .

[0353] The minimum time intervals between each treatment group were calculated sequentially to form a time interval matrix:

[0354] Simultaneously, a thermal effect matrix can be established based on the expected temperature rise, heat dose, and degree of thermal effect overlap:

[0355] in, Indicates treatment group After completion, the treatment group The resulting combined thermal effects.

[0356] Example 7: Generation of Treatment Group Jump Point Sequence

[0357] Based on the thermal effect matrix, time interval matrix, expected treatment time for each treatment group, and mechanical movement time, the execution order of jump points between treatment groups is generated.

[0358] First, select an initial treatment group, such as the treatment group. Completed treatment group Instead of directly selecting the next group according to the geometric order of the treatment groups, the candidate treatment groups that meet the current thermal safety conditions are selected from all the incomplete treatment groups.

[0359] Candidate treatment groups must meet the following criteria:

[0360] The current virtual time has reached the corresponding minimum time interval;

[0361] The expected peak temperature after continuous treatment will not exceed the preset upper limit;

[0362] The cumulative CEM43 does not exceed the preset safety threshold;

[0363] The degree of overlap with the thermal effect of the current treatment area meets the requirements.

[0364] Among the candidate treatment groups that meet the above conditions, the next treatment group is selected by further comprehensively considering mechanical movement distance, movement time, number of remaining treatment points, and overall treatment time.

[0365] For example, the original treatment group number was:

[0366] After thermal management planning, the following preset sequence is generated:

[0367] The above numbering is only used to distinguish different treatment groups and does not indicate radial hierarchy, lateral hierarchy or adjacent layer relationship.

[0368] In the treatment group , During and after the treatment group, the treatment group The surrounding area gains natural cooldown time. When the system requires further treatment... In regions with a high degree of thermal impact correlation, the aforementioned natural cooling time has been included in the virtual time axis.

[0369] Example 8: Implementation method within the treatment group

[0370] In one implementation, each treatment group includes four treatment points, which are performed sequentially within a preset order.

[0371] For example, the treatment group Including treatment points:

[0372] The execution order within a group can be:

[0373] The order within a group can be determined according to the principle of shorter mechanical movement distance, serpentine order, order of treatment point generation, or other fixed order.

[0374] In another implementation, if the prediction results indicate that completing four treatment points consecutively will result in high heat accumulation, the treatment group can be divided into two execution units:

[0375] Execute first Then switch to another treatment group, and return to the original treatment group after the cooldown condition is met. .

[0376] Therefore, the present invention can use either the entire group jump point or the execution unit jump point after the treatment group is partially completed.

[0377] Example 9: Generation of Virtual Treatment Timeline

[0378] Establish a virtual treatment timeline before treatment begins.

[0379] Upon completion of each treatment group or execution unit, the following times will be added to the virtual timeline:

[0380] Treatment time for the current treatment point or treatment group;

[0381] Intra-group movement time from the current treatment point to the next treatment point;

[0382] Mechanical movement time from the current treatment group to the next treatment group;

[0383] Additional waiting time may be required if necessary.

[0384] For example, if a treatment group contains four treatment points, and the treatment time for each treatment point is in the order of seconds, then the pure treatment time for a treatment group is in the order of several seconds. The time required for the device to move from one treatment group to another is also included in the virtual timeline.

[0385] The time taken to treat other treatment groups automatically constitutes the natural cooldown time for the treated areas, eliminating the need for separate shutdown and wait settings.

[0386] If no candidate treatment group meets the thermal safety requirements at the current virtual time, an additional waiting period is inserted into the treatment plan. Execution continues only after at least one candidate treatment group meets the corresponding minimum time interval.

[0387] Repeat the above process until all treatment points are sorted to obtain a complete treatment timeline.

[0388] Example 10: Treatment Plan Output and Execution

[0389] After completing the above planning, output the preset jump point treatment plan.

[0390] The treatment plan should include at least:

[0391] Target organization model;

[0392] Original treatment point set;

[0393] Treatment group division results;

[0394] The treatment points included in each treatment group;

[0395] The execution sequence of the treatment group and the execution unit;

[0396] The three-dimensional coordinates of each treatment point;

[0397] The driving voltage corresponding to each treatment point;

[0398] Pulse repetition frequency;

[0399] Number of single pulse cycles;

[0400] Therapeutic dosage;

[0401] Phase delay;

[0402] Array element activated;

[0403] Mechanical movement path;

[0404] The estimated start and end times for each treatment site and treatment group;

[0405] Natural cooldown time and additional waiting time;

[0406] Expected peak temperature;

[0407] CEM43 is expected;

[0408] Thermal safety assessment results.

[0409] The treatment control system controls the robot positioning mechanism to move the transducer to the corresponding treatment position according to the preset jump point treatment plan, and completes the tissue fragmentation treatment according to the corresponding treatment parameters.

[0410] During treatment, the treatment plan can be executed directly according to the preset jump point, without the need for real-time temperature monitoring or replanning of the treatment sequence based on real-time temperature or heat dose.

[0411] Example 11

[0412] This invention also provides an electronic device including a processor and a memory storing executable instructions for the processor. The processor is configured to execute steps of a tissue fragmentation jump-point treatment planning method by executing the executable instructions.

[0413] As described above, this embodiment first generates an original set of treatment points based on the three-dimensional contour of the target tissue and the spatial range of a single cavitation cloud. Then, based on the spatial relationship between treatment points, the coverage relationship of cavitation clouds, and the relationship of local thermal effects, the multiple treatment points are divided into several treatment groups, with each treatment group including at least two treatment points. Next, based on the focal sound pressure, treatment parameters, sound propagation tissue medium, and tissue thermal parameters corresponding to each treatment point, the temperature changes and cumulative equivalent 43°C heat dose corresponding to each treatment point, execution unit, and treatment group are predicted. Finally, based on the degree of thermal effects between different treatment groups or execution units, the minimum time interval, and the cost of equipment movement, the treatment execution sequence is re-planned to generate a thermal management jump point treatment plan.

[0414] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "platform."

[0415] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. See below for reference. Figure 6 To describe an electronic device 600 according to this embodiment of the present invention. Figure 6 The electronic device 600 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0416] like Figure 6 As shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), a display unit 640, etc.

[0417] The storage unit stores program code, which can be executed by the processing unit 610 to perform the steps described in the section on a tissue fragmentation technique jump-point treatment planning method of this specification, according to various exemplary embodiments of the present invention. For example, the processing unit 610 can perform, as follows: Figure 1 The steps are shown in the figure.

[0418] Storage unit 620 may include readable media in the form of volatile storage units, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include read-only memory (ROM) 6203.

[0419] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0420] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0421] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although... Figure 6 As not shown in the diagram, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0422] Example 12

[0423] This invention also provides a computer-readable storage medium for storing a program that, when executed, implements the steps of a tissue fragmentation jump-point treatment planning method. In some possible implementations, various aspects of the invention can also be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the foregoing section on a tissue fragmentation jump-point treatment planning method according to various exemplary embodiments of the invention.

[0424] As shown above, this embodiment first generates an original set of treatment points based on the three-dimensional contour of the target tissue and the spatial range of a single cavitation cloud. Then, based on the spatial relationship between treatment points, the coverage relationship of cavitation clouds, and the relationship of local thermal effects, multiple treatment points are divided into several treatment groups, with each treatment group including at least two treatment points. Next, based on the focal sound pressure, treatment parameters, sound propagation tissue medium, and tissue thermal parameters corresponding to each treatment point, the temperature changes and cumulative equivalent 43°C heat dose corresponding to each treatment point, execution unit, and treatment group are predicted. Finally, based on the degree of thermal effect between different treatment groups or execution units, the minimum time interval, and the cost of equipment movement, the treatment execution sequence is replanned to generate a thermal management jump point treatment plan.

[0425] Figure 7 This is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present invention. (Reference) Figure 7As shown, a program product 800 for implementing the above-described method according to an embodiment of the present invention is described. It may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0426] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0427] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0428] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0429] This embodiment first generates an initial set of treatment points based on the three-dimensional contour of the target tissue and the spatial range of a single cavitation cloud. Then, based on the spatial relationship between treatment points, the coverage relationship of cavitation clouds, and the relationship of local thermal effects, the multiple treatment points are divided into several treatment groups, with each treatment group including at least two treatment points. Next, based on the focal sound pressure, treatment parameters, sound propagation tissue medium, and tissue thermal parameters corresponding to each treatment point, the temperature changes and cumulative equivalent 43°C heat dose corresponding to each treatment point, execution unit, and treatment group are predicted. Finally, based on the degree of thermal effect between different treatment groups or execution units, the minimum time interval, and the cost of equipment movement, the treatment execution sequence is replanned to generate a thermal management jump point treatment plan.

[0430] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0431] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A method for planning treatment jump points in tissue fragmentation surgery, characterized in that, Includes the following steps: S1: Obtain basic data for treatment planning, which includes at least the three-dimensional contour of the target tissue, the spatial range of a single cavitation cloud, transducer parameters, and tissue thermal parameters. S2: Based on the three-dimensional contour of the target tissue, the spatial range of a single cavitation cloud, the spacing between treatment points, the overlap rate of treatment points, and the coverage requirements, multiple candidate treatment points are generated within the target tissue to form an original set of treatment points. S3: Based on the cavitation cloud range corresponding to each treatment point, the three-dimensional spatial positional relationship between treatment points, and the local thermal influence relationship, the original set of treatment points is divided into multiple treatment groups, wherein each treatment group includes at least two treatment points. S4: Based on the number of treatment points included in each treatment group, the thermal influence relationship within the group, and the equipment movement conditions, each treatment group is divided into one or more execution units, and each execution unit includes one or more treatment points belonging to the same treatment group; S5: For each treatment point, estimate the focal sound pressure corresponding to that treatment point based on the transducer sound field calibration information, treatment point location, treatment depth, driving voltage, array element activation status, phase delay, and tissue medium in the sound propagation path. S6: Based on the expected focal sound pressure or equivalent sound energy of each treatment point and the sound absorption characteristics of the sound propagation tissue, establish the expected heat source model corresponding to each treatment point; S7: Based on the expected heat source, tissue thermal parameters, initial temperature and treatment time corresponding to each treatment point, execution unit or treatment group, calculate the expected temperature change during and after treatment, and calculate the cumulative equivalent 43℃ heat dose based on the expected temperature-time curve. S8: For any two execution units, calculate the thermal impact of the previous execution unit on the next execution unit after completion, and establish a thermal impact matrix; and determine the minimum time interval required to switch from any execution unit to another execution unit according to the preset thermal safety conditions, and establish a time interval matrix. S9: For each treatment group, determine the execution order of each treatment point or execution unit within the group; S10: Based on the thermal effect matrix, time interval matrix, treatment time of each execution unit, and mechanical movement time of the equipment, sort the treatment group and execution units to generate the thermal management jump point treatment sequence; S11: Establish a virtual treatment timeline before treatment begins and obtain a complete preset jump point treatment plan.

2. The method according to claim 1, characterized in that, In S3, dividing the original set of treatment points into multiple treatment groups includes at least one of the following division conditions: The spatial distance between treatment points is less than a preset distance threshold; The overlap rate between the areas affected by single-point cavitation clouds is greater than the preset overlap threshold. The localized coverage area formed by the combined action of multiple cavitation clouds is interconnected; The degree of overlap between the heat-affected zones corresponding to the treatment points is greater than the preset thermal overlap threshold. The continuity of mechanical movement between treatment points satisfies the preset path constraints; The calculation results are based on spatial clustering algorithms or graph partitioning algorithms.

3. The method according to claim 1, characterized in that, In S3, for the remaining treatment points at the boundary of the target tissue that fail to form a treatment group according to the preset number, they are merged into the existing treatment group that is closest to them in terms of spatial distance, cavitation cloud coverage relationship or thermal influence relationship, so as to ensure that each treatment group includes at least two treatment points.

4. The method according to claim 1, characterized in that, In S4, each of the treatment groups is divided into one or more execution units, where the execution unit is selected from one of the following three types: A first execution unit, consisting of all treatment points within the treatment group; A second execution unit, consisting of m treatment points arranged in a preset continuous order within the treatment group, where 2≤m<N, N is the total number of treatment points in the treatment group; wherein m and N are both positive integers; A third execution unit, consisting of a single treatment point within the treatment group.

5. The method according to claim 1, characterized in that, In S5, the estimating the focal sound pressure corresponding to the treatment point includes at least one of the following manners: Determining according to the voltage-sound pressure calibration relationship of the transducer in a water tank or a tissue phantom; Calculating according to the array element sound field superposition model; Calculating according to the numerical simulation result of the sound field; Establishing a lookup table according to historical test data; Correcting the calibrated sound pressure according to the treatment depth and tissue attenuation parameters; Performing prediction according to a regression model or a machine learning model.

6. The method according to claim 1, characterized in that, In S6, the predicted heat source model includes at least one of the following heat sources: A local heat source formed in the focal region; A heat source formed by the tissue around the cavitation cloud; A heat source from tissue absorption in the sound propagation path; A superimposed heat source formed by overlapping of thermal influence regions of a plurality of treatment points; A combined heat source formed by continuous treatment of a plurality of treatment points within the same execution unit.

7. The method according to claim 1, characterized in that, In S7, the calculating the predicted temperature change includes at least one of the following calculation manners: Calculating based on the bio-heat transfer equation; Calculating based on the finite element heat conduction model; Calculating based on the finite difference heat conduction model; Calculating based on an analytical or semi-analytical temperature rise model; Calculating based on an empirical thermal response model established through tissue phantom or animal tests; Calculating based on a prediction model established from historical treatment data.

8. The method according to claim 1, characterized in that, In S7, the calculation formula for the cumulative equivalent 43°C thermal dose CEM43 is: Wherein T(t) is the predicted temperature of the corresponding tissue position at time t; R is the thermal dose conversion coefficient determined according to the temperature interval.

9. The method according to claim 1, characterized in that, In S8, the thermal influence matrix middle, Indicates completion of execution unit Then the execution unit The expected thermal effects to be generated, said expected thermal effects include at least: Execution unit For execution unit The expected temperature rise in the region; Execution unit Expected baseline temperature at the start of treatment; The predicted peak temperature after two execution units are treated sequentially; The cumulative CEM43 after the two treatments are superimposed; The degree of overlap between the thermal influence regions of the two execution units; The degree of thermal influence overlap between the sound propagation paths of the two execution units; From the execution unit Switch to execution unit The minimum time interval required to be met.

10. The method according to claim 1, characterized in that, In S8, the time interval matrix middle, Indicates completion of execution unit Then start executing the unit The minimum time interval to be satisfied; said minimum time interval is determined based on at least one of the following conditions: The predicted base temperature at the start of treatment of the subsequent execution unit is not higher than the preset starting temperature threshold; The predicted peak temperature after the completion of treatment of the subsequent execution unit is not higher than the preset upper temperature limit; The cumulative CEM43 after the two treatments are superimposed is not higher than the preset upper thermal dose limit; The temperature or thermal dose in non-target tissue is not higher than the corresponding safety threshold.

11. The method according to claim 1, characterized in that, In S10, the generating the thermal management jump-point treatment order includes: After completing the current execution unit, determining the next candidate execution unit from other unfinished treatment groups; The candidate execution unit satisfies at least one or more of the following conditions: The current planned time has reached the corresponding minimum time interval; The predicted peak temperature after subsequent treatment does not exceed the preset upper limit; The cumulative CEM43 formed by subsequent treatment does not exceed the preset safety threshold; The degree of thermal influence overlap with the current treatment region is lower than the preset threshold; The thermal load on non-target tissue in the sound propagation path meets safety requirements.

12. The method according to claim 11, characterized in that, The process of obtaining a complete preset jump point treatment plan specifically includes: for each new execution unit determined, the virtual treatment timeline is updated, and it is determined whether subsequent candidate execution units meet the minimum time interval and thermal safety conditions; if there are no candidate execution units that meet the thermal safety conditions, a waiting time is inserted into the treatment plan until at least one candidate execution unit meets the treatment conditions; the above process is repeated until all treatment points are sorted to obtain a complete preset jump point treatment plan.

13. The method according to claim 1, characterized in that, Also includes: S12: Output the preset jump point treatment plan; The preset jump point treatment plan includes at least: The three-dimensional spatial coordinates of each treatment point; The driving voltage corresponding to each treatment point; Phase delay and array element activation status at each treatment point; Mechanical movement path between treatment points and treatment groups; The expected peak temperature of each treatment point, execution unit, or treatment group; The projected CEM43 for each treatment site, execution unit, or treatment group; Thermal safety assessment results and related prompts.

14. A tissue fragmentation surgery jump-point treatment planning system, characterized in that, include: The data acquisition module is used to acquire target tissue models, transducer information, treatment parameters, tissue acoustic parameters, and tissue thermal parameters. The treatment point generation module is used to generate an original set of treatment points based on the target tissue outline, the range of a single cavitation cloud, the spacing between treatment points, and the overlap rate of treatment points. The treatment group division module is used to divide the original treatment point into multiple treatment groups based on the three-dimensional spatial position between treatment points, the cavitation cloud coverage relationship, and the thermal impact relationship, wherein each treatment group includes at least two treatment points. The execution unit generation module is used to identify one or more treatment points in each treatment group as execution units. The sound pressure estimation module is used to estimate the focal sound pressure or equivalent sound energy of each treatment point based on the driving voltage, treatment depth, array element state, phase delay and tissue medium in the sound propagation path. The thermal dose prediction module is used to calculate the expected temperature change and cumulative equivalent 43℃ thermal dose for each treatment point, execution unit or treatment group based on the focal sound pressure, pulse parameters, tissue sound absorption parameters and tissue thermal parameters. The thermal impact calculation module is used to calculate the thermal impact between different execution units, the degree of overlap of thermal impact regions, and the minimum time interval, and to establish the thermal impact matrix and the time interval matrix. The jump point path planning module is used to reorder the treatment group and execution unit based on thermal impact relationship, time interval, mechanical movement time and total treatment time to generate the jump point treatment sequence; The treatment plan output module is used to output the treatment group division results, execution order, treatment parameters, mechanical movement path, time interval, and expected thermal dose.

15. A device for planning treatment jump points in tissue fragmentation surgery, characterized in that, include: processor; A memory in which executable instructions of the processor are stored; The processor is configured to perform the steps of a tissue fragmentation jump point treatment planning method according to any one of claims 1 to 13 by executing the executable instructions.

16. A computer-readable storage medium for storing a program, characterized in that, When the program is executed, it implements the steps of the tissue fragmentation jump point treatment planning method according to any one of claims 1 to 13.

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