Ablation treatment system

Abstract

Disclosed herein is a method of operating a medical device 100, 200, 400, 500. The medical device has a user interface 108 having a display. The method includes receiving 300 an anatomical segmentation 122 identifying a location of an anatomical structure 416 and receiving 302 a target zone segmentation 124 identifying a location of a volume 416 at least partially within the anatomical segmentation. The method further includes displaying 304 a planning graphical user interface 112 using the display. The planning graphical user interface includes a first panel 130 configured to render cross-sectional views of the anatomical segmentation 136 and the target zone segmentation 138. The planning graphical user interface includes a second panel 132 configured to display a first three-dimensional model 140 of the anatomical segmentation and the target zone segmentation. The planning graphical user interface further includes a third panel 134 configured to display a second three-dimensional model 142 of the remaining portion of the target zone segmentation. The planning graphical user interface further includes an ablation selector 144, 144', 146 configured to provide an ablation zone. The method further includes repeating step 306 of receiving the ablation zone from the ablation selector and step 308 of updating the remaining portion by removing the ablation zone from the remaining portion.

Description

Technical Field

[0001] The present invention relates to a tissue ablation system, and more particularly to ablation planning.

Background Art

[0002] In tissue ablation, an ablation probe is inserted into a subject to locally ablate tissue. There are various types of probes for ablating tissue. For example, heat, cryo, high-frequency power, and lasers can all be used to ablate tissue.

Summary of the Invention

Problems to be Solved by the Invention

[0003] U.S. Patent Application Publication No. 20150320509A1 discloses a surgical assistance system. In one example, a first image of a patient captured before surgery is received. A treatment plan is generated based on the first image. The treatment plan includes information related to one or more surgical instruments. A second image of the patient captured after the surgical procedure has started is received. The treatment plan is dynamically adjusted based on the posture of any one of the one or more surgical instruments identified from the second image. A third image of the patient captured after a lesion has been treated by at least one of the surgical instruments based on the adjusted treatment plan is received. Whether further treatment of the lesion is required is determined based on the third image. When it is determined that further treatment is required, an updated treatment plan is dynamically generated based on the third image.

Means for Solving the Problems

[0004] The present invention provides a medical device, a computer program, and a method in the independent claims. Embodiments are described in the dependent claims.

[0005] The difficult part of performing tissue ablation accurately is accurately planning the ablation. Embodiments can provide a system for assisting in ablation planning. Anatomical segmentation and target zone segmentation are received, and then those segmentations are used to render several three-dimensional models on a planning graphical user interface. A first three-dimensional model shows the anatomical segmentation and the target zone segmentation. A second three-dimensional model shows the remaining portion of the target zone segmentation. An ablation zone selector on the planning graphical user interface enables selection of an ablation zone. The system then updates the remaining portion (the second three-dimensional model) by removing the ablation zone from the remaining portion. This process can be repeated to plan the entire ablation.

[0006] In one aspect, the present invention provides a medical device having a user interface. The user interface has a display. The medical device further has a memory storing machine-executable instructions. The medical device further has a computing system configured to control the medical device. The medical device can take different forms in each different example. In some examples, the medical device is a workstation or a computing system. In other examples, the medical device can include other components such as an ablation system.

[0007] The execution of the machine-executable instructions causes the computer system to receive an anatomical segmentation that identifies the location of anatomical structures. The anatomical segmentation can be in the form of a segmentation of a medical image. In other examples, the anatomical segmentation is simply to identify regions of anatomical structures independent of medical images. The execution of the machine-executable instructions further causes the computing system to receive a target zone segmentation that identifies the location of a volume that is at least partially within the anatomical segmentation. This volume can also be referred to as the target zone.

[0008] The execution of the machine-executable instructions further causes the processor to display a planning graphical user interface using a display. The planning graphical user interface has a first panel configured to render cross-sectional views of the anatomical segmentation and the target zone segmentation. The planning graphical user interface further has a second panel configured to display a rendering of a first three-dimensional model of the anatomical segmentation and the target zone segmentation.

[0009] The rendering of the first three-dimensional model can be, for example, a two-dimensional rendering of the three-dimensional model. In other examples, a three-dimensional rendering can be used. The planning graphical user interface further has a third panel configured to render a second three-dimensional model of the remaining portion of the target zone segmentation. The planning graphical user interface further has an ablation selector configured to provide an ablation zone that describes a volume that is at least partially within the remaining portion.

[0010] The execution of the machine-executable instructions further causes the computing system to repeatedly receive ablation zones from an ablation selector. The execution of the machine-executable instructions further causes the computing system to repeatedly update the remaining portion by removing the ablation zones from the remaining portion. This embodiment can be beneficial because it can assist in ablation planning. The display of the remaining portion can assist in selecting an appropriate ablation zone.

[0011] In another embodiment, the ablation selector is configured to receive a selection of a volume within the remaining portion. The execution of the machine-executable instructions further causes the processor to generate an ablation zone in response to receiving the selection of the volume from the ablation selector. For example, the user interface may display ablatable volumes.

[0012] In another embodiment, the ablation selector is configured to receive a selection of a trajectory that intersects the remaining portion. The execution of the machine-executable instructions further causes the processor to generate an ablation zone in response to receiving the selection of the trajectory from the ablation selector. A particular ablation system may have a guide or setting for an insertion point where a probe can be inserted. The user interface may display, for example, possible trajectories that a physician or other operator can select, and then the physician or other operator can plan an ablation and view the projected results in the user interface.

[0013] In another embodiment, the memory further has an automatic planning module configured to output an ablation zone in response to the remaining portion of the input. The ablation selector is configured to receive an automatic planning request. The execution of the machine-executable instructions further causes the processor to generate an ablation zone by inputting the remaining portion to the automatic planning module in response to receiving the automatic planning request. The automatic planning module can be implemented in various different ways, for example. In one example, by using a neural network, it is possible to select an ablation zone according to the existing remaining portion. In another example, the automatic planning module can use a search algorithm that looks at all possible selections and then selects an ablation zone that meets a predetermined criterion. For example, the ablation zone can be selected such that the maximum amount of tissue is ablated.

[0014] In another embodiment, the execution of the machine-executable instructions further causes the processor to generate an insertion instruction for inserting an ablation probe in response to receiving an ablation zone from the ablation selector. The medical device can be useful, for example, when planning an ablation procedure. The insertion instruction can also be provided for use by a physician or medical technician during or after the planning is done.

[0015] In another embodiment, the medical device has an ablation probe system having an ablation probe. The medical device further has an ablation probe tracking system registered to anatomical segmentation. The ablation probe tracking system can be implemented in various different ways, for example. For example, there may be a radio frequency tag or other transmitter on the ablation probe that enables tracking. In other cases, the ablation probe tracking system can at least partially track the probe using input medical images from a CT system or a magnetic resonance imaging system, etc.

[0016] The execution of the machine-executable instructions further causes the computing system to receive probe tracking data from the ablation probe. The execution of the machine-executable instructions further causes the computing system to update the remaining portion using the probe tracking data. When the ablation probe is actually inserted into the target, the actual area reached by the ablation probe may be different from what is intended. In this embodiment, the remaining portion is updated to match the actual position of the ablation probe.

[0017] In another embodiment, the ablation probe is a high-frequency ablation probe.

[0018] In another embodiment, the ablation probe is a microwave ablation probe.

[0019] In another embodiment, the ablation probe is a high-density focused ultrasound ablation probe.

[0020] In another embodiment, the ablation probe is a focused or converging laser ablation probe.

[0021] In another embodiment, the ablation probe is an irreversible electroporation probe.

[0022] In another embodiment, the ablation probe is a cryoablation probe.

[0023] In another embodiment, the medical device further includes a guidance medical imaging system. Execution of the machine-executable instructions further causes the guidance medical imaging system to be controlled by the computing system to acquire guidance medical image data in real time during acquisition of tracking data from the ablation probe. Execution of the machine-executable instructions further causes the computer system to display the guidance medical image data on the user interface in real time. The real-time guidance medical image data can be used, for example, to accurately track the position of the probe, identify the position, and further update the remaining parts.

[0024] In another embodiment, the guidance medical imaging system is a computed tomography system.

[0025] In another embodiment, the guidance medical imaging system is an ultrasonic imaging system.

[0026] In another embodiment, the guidance medical imaging system is a magnetic resonance imaging system.

[0027] In another embodiment, the guidance medical imaging system is an X-ray fluoroscopy device.

[0028] In another embodiment, execution of the machine-executable instructions further causes the computing system to receive a planning magnetic resonance image that describes a region of interest of the subject. Anatomical segmentation identifies the location of anatomical structures within the planning magnetic resonance image. The first panel is further configured to render a cross-sectional view of the planning magnetic resonance image.

[0029] In another embodiment, the memory further stores an automatic segmentation algorithm configured to generate anatomical segmentation and / or target zone segmentation in response to an input of a planning magnetic resonance image. Execution of the machine-executable instructions further causes the processor to generate anatomical segmentation and / or target zone segmentation by inputting the planning magnetic resonance image into the automatic segmentation algorithm.

[0030] The automated segmentation algorithm can be implemented in various ways. In one example, the automatic segmentation algorithm is implemented as a neural network. In other examples, the automatic segmentation algorithm can perform segmentation by using an anatomical atlas. In another example, the automatic segmentation algorithm uses a deformable shape model to perform segmentation.

[0031] In another embodiment, the medical device further includes a planning magnetic resonance imaging system configured to acquire planning k-space data of a subject. The label “planning magnetic resonance image” is intended to indicate a specific magnetic resonance imaging system. Similarly, the term “planning k-space data” is intended to indicate specific k-space data, and the word “planning” is used as a label. The memory further includes planning pulse sequence commands configured to control the magnetic resonance imaging system to acquire the planning k-space data.

[0032] Execution of the machine-executable instructions further causes the computing system to control the planning magnetic resonance imaging system using the planning pulse sequence commands to acquire the planning k-space data. Execution of the machine-executable instructions further causes the computing system to reconstruct a planning magnetic resonance image from the planning k-space data.

[0033] In another embodiment, the display is a three-dimensional display. This may be, for example, a display provided by goggles or other virtual reality or augmented reality systems. Execution of the machine-executable instructions further causes the processor to three-dimensionally render a first three-dimensional model and a second three-dimensional model using the three-dimensional display.

[0034] In another aspect, the present invention provides a computer program comprising machine-executable instructions for execution by a computing system that controls a medical device. The medical device has a user interface having a display. Execution of the machine-executable instructions causes the computer system to receive an anatomical segmentation that identifies the location of anatomical structures. Execution of the machine-executable instructions further causes the computing system to receive a target zone segmentation that identifies at least a partially volumetric position within the anatomical segmentation. Execution of the machine-executable instructions further causes the computing system to display a planning graphical user interface using the display.

[0035] The planning graphical user interface has a first panel configured to render cross-sectional views of the anatomical segmentation and the target zone segmentation. The planning graphical user interface further has a second panel configured to display a rendering of a first three-dimensional model of the anatomical segmentation and the target zone segmentation. The planning graphical user interface further has a third panel configured to render a second three-dimensional model of the remaining portion of the target zone segmentation. The planning graphical user interface further has an ablation selector configured to provide an ablation zone that describes at least a partially volumetric within the remaining portion.

[0036] The execution of the machine-executable instructions further causes the computing system to repeatedly receive an ablation zone from an ablation selector. The execution of the machine-executable instructions further causes the computing system to repeatedly update the remaining portion by removing the ablation zone from the remaining portion.

[0037] In another aspect, the present invention provides a method of operating a medical device. The medical device has a user interface. The user interface has a display. The method includes receiving an anatomical segmentation that identifies a location of an anatomical structure. The method further includes receiving a target zone segmentation that identifies a location of a volume that is at least partially within the anatomical segmentation. The method further includes using the display to display a planning graphical user interface. The planning graphical user interface has a first panel configured to render a cross-sectional view of the anatomical segmentation and the target zone segmentation.

[0038] The planning graphical user interface further has a second panel configured to display a rendering of a first three-dimensional model of the anatomical segmentation and the target zone segmentation. The planning graphical user interface further has a third panel configured to display a rendering of a second three-dimensional model of the remaining portion of the target zone segmentation. The planning graphical user interface further has an ablation selector configured to provide an ablation zone that at least partially describes a volume within the remaining portion. The method further includes repeatedly receiving an ablation zone from the ablation selector. The method further includes repeatedly updating the remaining portion by removing the ablation zone from the remaining portion.

[0039] It should be understood that one or more of the foregoing embodiments of the present invention can be combined as long as the combined embodiments are not mutually exclusive. As will be understood by those skilled in the art, aspects of the present invention can be embodied as an apparatus, a method, or a computer program product. Accordingly, aspects of the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, microcode, etc.), or an embodiment combining software and hardware forms, all of which may be referred to herein as a "circuit", "module", or "system". Furthermore, aspects of the present invention may take the form of a computer program product embodied on one or more computer-readable media having computer-executable code embodied thereon.

[0040] Any combination of one or more computer-readable media may be utilized. The computer-readable media may be a computer-readable signal medium or a computer-readable storage medium. As used herein, "computer-readable storage medium" includes any tangible storage medium that can store instructions executable by a processor or computing system of a computing device. A computer-readable storage medium may also be referred to as a computer-readable non-transitory storage medium. A computer-readable storage medium may also be referred to as a tangible computer-readable medium. In certain embodiments, a computer-readable storage medium may also store data accessible by a computing system of a computing device. Examples of computer-readable storage media include, but are not limited to, floppy disks, magnetic hard disk drives, solid state hard disks, flash memory, USB thumb drives, random access memory, read-only memory (ROM), optical disks, magneto-optical disks, and register files of a computing system. Examples of optical disks include compact disks (CDs) such as CD-ROM, CD-RW, CD-R, digital versatile disks (DVDs) such as DVD-ROM, DVD-RW, or DVD-R disks. The term computer-readable storage medium also refers to various types of recording media that can be accessed by a computer device via a network or communication link. For example, data can be retrieved via a modem, via the Internet, or via a local area network. The computer-executable code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, fiber optic cable, RF, or any suitable combination of the foregoing.

[0041] A computer-readable signal medium can include, for example, a propagated data signal in which computer-executable code is embodied, either baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electromagnetic, optical, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium that is not a computer-readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0042] "Computer memory" or "memory" is an example of a computer-readable storage medium. Computer memory is any memory directly accessible to a computing system. "Computer storage device" or "storage device" is another example of a computer-readable storage medium. A computer storage device is any non-volatile computer-readable storage medium. In some embodiments, a computer storage device may be a computer memory or vice versa.

[0043] As used herein, "computing system" includes electronic components capable of executing a program, machine-executable instructions, or computer-executable code. References to a computing system that include examples of a computing system should, in some cases, be construed as including two or more computing systems or processing cores. A computing system may be, for example, a multi-core processor. A computing system may also refer to a set of computing systems that are distributed within a single computer system or across multiple computer systems. The term computing system should also probably be construed as referring to a set or network of computing devices, each having a processor or computing system. Machine-executable code or instructions may be executed by a plurality of computing systems or processors that may be within the same computing device or distributed across a plurality of computing devices.

[0044] Machine-executable instructions or computer-executable code can have instructions or programs that cause a processor or other computing system to execute aspects of the present invention. Computer-executable code for performing the processing according to aspects of the present invention includes object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as the "C" programming language or similar programming languages, and can be written in any combination of one or more programming languages compiled into machine-executable instructions. In one example, the computer-executable code may be in the form of a high-level language or a pre-compiled form and can also be used with an interpreter that generates machine-executable instructions on the fly. In other examples, the machine-executable instructions or computer-executable code can be in the form of a program for a programmable logic gate array.

[0045] The computer-executable code can be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter situation, the remote computer can be connected to the user's computer via any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0046] Aspects of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each block or portion of blocks in the flowchart illustrations, diagrams, and / or block diagrams can be implemented by computer program instructions in the form of computer-executable code, where applicable. Further, it should be understood that blocks in different flowchart illustrations, diagrams, and / or block diagrams can be combined if not mutually exclusive. These computer program instructions can be provided to a computing system of a general purpose computer, a special purpose computer, or other programmable data processing apparatus, such that the instructions executed via the computing system of the computer or other programmable data processing apparatus create means for implementing the functions / operations specified in the block or blocks of the flowchart and / or block diagram, thereby generating a machine.

[0047] These machine-executable instructions or computer program instructions may be stored in a computer-readable medium that can direct a computer, other programmable data processing apparatus, or other device to function in a particular manner, such that the instructions stored in the computer-readable medium produce a manufacture including instructions for implementing the functions / processes specified in the block or blocks of the flowchart and / or block diagram.

[0048] Machine-executable instructions or computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of processing steps to be executed on the computer, other programmable apparatus, or other devices, so as to generate a computer-implemented process for providing a process that realizes the functions / processes specified within a flowchart and / or block diagram block or blocks. As used herein, a "user interface" is an interface that enables a user or operator to interact with a computer or computer system. A "user interface" is also referred to as a "human interface device", and the user interface can provide information or data to the operator and / or receive information or data from the operator. The user interface can enable the computer to receive input from the operator and can provide output to the user from the computer. In other words, the user interface enables the operator to control or operate the computer, and the interface enables the computer to indicate the effect of the operator's control or operation. The display of data or information on a display or graphical user interface is an example of providing information to the operator. The reception of data via a keyboard, mouse, trackball, touchpad, pointing stick, graphics tablet, joystick, gamepad, webcam, headset, pedal, wired glove, remote control, and accelerometer are all examples of user interface components that enable the reception of information or data from the operator. As used herein, a "hardware interface" includes an interface that enables a computing system of a computer system to interact with and / or control an external computing device and / or equipment. The hardware interface may enable the computing system to transmit control signals or instructions to the external computing device and / or equipment.The hardware interface may also enable the computing system to exchange with external computing devices and / or devices and data. Examples of hardware interfaces include, but are not limited to, Universal Serial Bus, IEEE 1394 port, parallel port, IEEE 1284 port, serial port, RS-232 port, IEEE-488 port, Bluetooth connection, wireless local area network connection, TCP / IP connection, Ethernet connection, control voltage interface, MIDI interface, analog input interface, and digital input interface.

[0049] As used herein, "display" or "display device" includes an output device or user interface adapted to display images or data. The display can output visual data, auditory data, and / or tactile data. Examples of displays include, but are not limited to, computer monitors, television screens, touchscreens, tactile electronic displays, braille screens, cathode ray tubes (CRTs), storage tubes, bistable displays, electronic paper, vector displays, flat panel displays, vacuum fluorescent displays (VF), light emitting diode (LED) displays, electroluminescent displays (ELD), plasma display panels (PDP), liquid crystal displays (LCD), organic light emitting diode displays (OLED), projectors, and head-mounted displays.

[0050] k-space data is defined herein as the recorded measurements of high-frequency signals emitted by atomic spins using an antenna of a magnetic resonance apparatus during a magnetic resonance scan. Magnetic resonance data is an example of tomographic medical image data.

[0051] Magnetic resonance imaging (MRI) images, MR images, or magnetic resonance imaging data are defined herein as a reconstructed two-dimensional or three-dimensional visualization of anatomical data contained within the magnetic resonance imaging data. This visualization can be performed, for example, using a computer.

[0052] Hereinafter, preferred embodiments of the present invention will be described by way of example only with reference to the drawings.

Brief Description of the Drawings

[0053]

Figure 1

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Mode for Carrying Out the Invention

[0054] Components with the same numbers in these figures are either equivalent components or perform the same function. The above-described components are not necessarily described in later figures if their functions are equivalent.

[0055] Figure 1 shows an example of a medical device 100. The medical device 100 is shown as having a computer 102 in this particular example. The computer 102 is shown as having an optional hardware interface 104. The hardware interface 104 can be used to control other components of the medical device 100 if they exist, for example. The medical device 100 is further shown as having a computing system 106. The computing system 106 is intended to represent one or more computing systems or devices such as the processors of other computers. The computing system 106 may also be distributed across multiple locations. The medical device 100 is further shown as having a user interface 108. The user interface includes a planning graphical user interface 112. The medical device 100 is further shown as having a memory 110. The memory 110 represents any memory accessible by the computing system 106.

[0056] The medical device 100 shown in Figure 1 may be a component or part of various different types of systems. In one example, the medical device 100 is a workstation or computing device used for planning. In another example, the medical device 100 may be integrated with an ablation probe or an ablation probe system. In another example, the medical device 100 may be integrated with a magnetic resonance imaging system or other medical imaging system.

[0057] The memory 110 is further shown as having an automatic planning module 126 for selection. The automatic planning module can be configured to output a selected ablation zone in response to the input of the remaining part. The memory 128 is further shown as having an insertion instruction 128 that can be presented on an optional display for the insertion instruction 148. For example, the insertion instruction 128 can include instructions on where and how much to insert an ablation probe.

[0058] The planning graphical user interface 112 is shown as having a first panel 130, a second panel 132, and a third panel 134. The first panel is configured to render a cross-sectional view of the anatomical segmentation 136 and a cross-sectional view of the target zone segmentation 138. The first panel 130 may further be configured to display a cross-section of a medical image, such as a magnetic resonance image, using these two cross-sectional views of the segmentations 136, 138.

[0059] The second panel 132 is configured to display a rendering of a first three-dimensional model 140. The first three-dimensional model 140 is a three-dimensional model of the anatomical segmentation 122 and the target zone segmentation 124. The second panel 132 can be useful as it can display the three-dimensional models of the segmentations 122 and 124 in three dimensions without any other medical image data.

[0060] The third panel 134 displays a second three-dimensional model 142 showing the remaining portion of the target zone segmentation 124. A plurality of ablation zone selectors 144 are shown within panel 134, and these selectors have their corresponding volumes. These correspond to volumes that the operator can select to further ablate the target zone 124. After the ablation zone selector 144 is removed, various actions can be taken. For example, this region may be removed from the target zone segmentation 124 to show a smaller volume or region that still needs to be ablated. Thereby, an insertion instruction 128 may be generated. In some examples, this medical device 100 may be used purely for planning purposes. For example, the insertion instruction 128 may be issued at a later timing. In other examples, the medical device 100 may be integrated with an ablation probe and / or a medical imaging system for tracking and real-time updating of the remaining portion 142.

[0061] On the planning graphical user interface 112, any automatic planning request control 146 is also shown. For example, when this button 146 is activated by the operator, the automatic planning module 126 can automatically select, for example, one of the ablation zone selectors 144.

[0062] FIG. 2 shows another example of the medical device 200. The medical device 200 in FIG. 2 is similar to the medical device 100 in FIG. 1, but in this example, it is different in that the ablation zone selector selects the trajectory 144' instead of selecting a volume. These can be, for example, the selection of different insertion points for the ablation probe. When the trajectory 144' is selected, the ablation zone to be ablated can be determined, which can be removed or subtracted from the remaining part 142.

[0063] FIG. 3 shows a flowchart showing a method of operating the medical device 100 of FIG. 1 or 200 of FIG. 2. First, in step 300, the anatomical segmentation 122 that identifies the location of the anatomical structure is received. Next, in step 302, the target zone segmentation 124 is received, and the target zone segmentation 124 identifies the location of the volume that is at least partially within the anatomical segmentation. Next, in step 304, the planning graphical user interface 112 is displayed. The planning graphical user interface 112 has a first panel 130 configured to render a cross-sectional view of the anatomical segmentation 136 and a cross-sectional view of the target zone segmentation 138. The planning graphical user interface 112 further has a second panel 132 configured to display a rendering of the first three-dimensional model 140 of the anatomical segmentation 122 and the target zone segmentation 124.

[0064] The planning graphical user interface 112 further has a third panel 134 configured to render a second three-dimensional model 142 of the remainder of the target zone segmentation. The planning graphical user interface further has ablation selectors 144, 144' configured to provide an ablation zone that describes a volume that is at least partially within the remainder. The method then proceeds to step 306. In step 306, the ablation zone is received from the ablation zone selectors 144, 144'. Then, in step 308, the remainder 142 is updated by removing the ablation zone from the remainder. This causes the remainder to become smaller. The method then proceeds to decision box 310. In this step, it is asked whether the iteration is complete. If the answer is "no", the method returns to step 306 and another ablation zone is selected. If the answer is "yes", the method proceeds to step 312 and the method shown in FIG. 3 ends.

[0065] FIG. 4 shows another example of a medical device 400. The medical device 400 of FIG. 4 is similar to the medical devices 100 and 200 shown in FIGS. 1 and 2. The medical device 400 further has a guidance medical imaging system 402 and an ablation probe tracking system 412. An ablation probe system 406 is also shown. The guidance medical imaging system 402 can also represent any number of different modalities of medical imaging that can be used to track the insertion of the ablation probe 406. The guidance medical imaging system 402 has an imaging zone 404 that can acquire guidance medical image data 422. The subject 408 is shown on a subject support 410 and is supported such that the anatomical structure 416 and the target zone 418 are within the imaging zone 404.

[0066] The planning graphical user interface 112 is further shown as having a real-time rendering 424 of the guidance medical image data 422 acquired by the guidance medical imaging system 402. It clearly displays the location of the ablation probe 406. The medical device 400 is further shown as having an ablation probe tracking system 412. This can include electronics that can identify the position and orientation of the ablation probe 406 so that, for example, which regions of the subject 408 are actually ablated by the probe 406 can be better determined. This can be used to update or modify the remaining portion 142.

[0067] FIG. 5 shows another example of a medical device 500. The medical device 500 of FIG. 5 is similar to the medical devices 100 and 200, except that the medical device 500 further has a planning magnetic resonance imaging system 502. The planning magnetic resonance imaging system 502 is a magnetic resonance imaging system. The term "planning" in the planning magnetic resonance imaging system is merely a label. Similarly, the planning label is used for the pulse sequence commands, k-space data, and images from this planning magnetic resonance imaging system 502. The features of FIG. 5 can be freely combined with the features of FIG. 4. In some examples, the planning magnetic resonance imaging system 502 can be identical to the guidance medical imaging system 402.

[0068] The planning magnetic resonance imaging system 502 has a magnet 504. The magnet 504 is a cylindrical superconducting magnet having a bore 506 therethrough. The use of different types of magnets is also possible. For example, it is also possible to use both a split cylindrical magnet and a so-called open magnet. The split cylindrical magnet is similar to a standard cylindrical magnet except that the cryostat is split into two sections to allow access to the isoplanes of the magnet, and such a magnet can be used, for example, in combination with charged particle beam therapy. The open magnet has two magnet sections, the two magnet sections are arranged vertically, and there is a space large enough to receive a subject therebetween, and the arrangement of the two magnet sections is similar to that of a Helmholtz coil. The open magnet is popular because the subject is not surrounded. Inside the cryostat of the cylindrical magnet, there is an assembly of superconducting coils.

[0069] Inside the bore 506 of the cylindrical magnet 504, there is an imaging zone 508 where the magnetic field is strong and uniform enough to perform magnetic resonance imaging. A region of interest 509 is shown within the imaging zone 508. Typically, k-space data is acquired for the region of interest. The subject 408 is shown as being supported by a subject support 520 such that at least a portion of the subject 408 is within the imaging zone 508 and the region of interest 509. An anatomical structure 416 and a target zone 418 are within the field of view 509 inside the imaging zone 508.

[0070] Inside the bore 506 of the magnet, there is further a set of magnetic field gradient coils 510, which is used to acquire preliminary magnetic resonance data for spatially encoding magnetic spins within the imaging zone 508 of the magnet 504. The magnetic field gradient coils 510 are connected to a magnetic field gradient coil power supply 512. The magnetic field gradient coils 510 are intended to be exemplary. Typically, the magnetic field gradient coils 510 have three separate sets of coils for spatial encoding in three orthogonal spatial directions. The magnetic field gradient power supply supplies current to the magnetic field gradient coils. The current supplied to the magnetic field gradient coils 510 is controlled as a function of time and may be ramped or pulsed.

[0071] Adjacent to the imaging zone 508, there is a radio frequency coil 514 that manipulates the orientation of the magnetic spins within the imaging zone 508 and also receives wireless transmissions from the spins within the imaging zone 508. The radio frequency antenna can have a plurality of coil elements. The radio frequency antenna can be referred to as a channel or an antenna. The radio frequency coil 514 is connected to a radio frequency transceiver 516. The radio frequency coil 514 and the radio frequency transceiver 516 can be replaced by separate transmit and receive coils, and separate transmitters and receivers. It is understood that the radio frequency coil 514 and the radio frequency transceiver 516 are illustrative examples. The radio frequency coil 514 is also intended to represent a dedicated transmit antenna and a dedicated receive antenna. Similarly, the transceiver 516 can also represent separate transmitters and receivers. Also, the radio frequency coil 514 may have a plurality of receive / transmit elements, and the radio frequency transceiver 516 can have a plurality of receive / transmit channels. For example, when parallel imaging techniques such as SENSE are implemented, the high frequency coil 514 can have a plurality of coil elements.

[0072] The transceiver 516 and the gradient controller 512 are shown to be connected to the hardware interface 104 of the computer system 102.

[0073] Memory 110 is further shown as including a planning pulse sequence command 530. The planning pulse sequence command 530 is a pulse sequence command. The planning pulse sequence command 530 is data or a command that can be converted into a command for controlling a planning magnetic resonance imaging system 502 to acquire planning k-space data 532. The planning k-space data 532 is k-space data. Memory 110 is further shown as including a planning magnetic resonance image 534. The planning magnetic resonance image can be reconstructed from the planning k-space data 532 and segmented. Memory 110 is further shown as having an automatic segmentation algorithm 536 that can automatically generate anatomical segmentation 122 and / or target zone segmentation 124 using the planning magnetic resonance image 534 as an input. In some cases, these segmentations may also be provided manually using a planning graphical user interface 112.

[0074] In thermal tumor ablation procedures (and other types of ablation), it is beneficial to completely cover the tumor to eradicate the disease without ablating surrounding critical structures. For this purpose, it is possible to create a plan beforehand, but there is no real-time feedback mechanism when placing the ablation applicator to perform the ablation.

[0075] Embodiments can provide a feedback mechanism that is useful when a clinician evaluates the application range of a tumor, particularly when identifying untreated areas within the tumor. The system includes related interaction mechanisms and includes visualization of untreated areas in 2D and 3D.

[0076] Embodiments may generally be particularly relevant to the field of thermal ablation and specifically address the need to support the identification of untreated areas. The following disclosure is also relevant to many other types of ablation.

[0077] Percutaneous thermal ablation is an option for interventional cancer treatment that has seen a significant increase in adoption over the past decade and is expected to continue growing at a CAGR of 8 - 10% until 2024. Thermal ablation can be delivered using various ablation modalities, including radiofrequency (RF), microwave (MW), high-intensity focused ultrasound (HIFU), focused laser ablation (FLA), irreversible electroporation (IRE), cryoablation, etc.

[0078] In clinical practice, these ablation procedures involve placing one or more ablation applicators (ablation probe 406) inside or near the target area (target zone 418) with the aid of image guidance. Generally, physicians place these needle-like applicators while examining real-time ultrasound or interventional radiology images (CT / MR) based on information provided by the manufacturer, resulting in clinical trials and personal experience. Similar to the radiation treatment planning system (RTPS) used in brachytherapy procedures, the use of a more advanced ablation treatment planning system (ATPS) for planning ablation and placing needles is not widely adopted due to its limited availability.

[0079] In current ablation procedures, quality assurance is limited. Most procedures are performed without a plan, and when a plan is defined, it is visualized by showing the covered / treated area without direct feedback regarding the presence of small untreated areas ("gaps") between individual ablations inside the target.

[0080] Some examples can provide an ablation therapy guidance system that can display untreated areas (remaining portion 142) within a target. This display (planning graphical user interface 112) is an interactive 3D rendering that enables a user to determine where to place additional applicators to cover the untreated areas.

[0081] Given a discrete binary representation of the lesion L to be treated (target zone 418) and the ablation zone Z (600), the untreated area U (remaining portion 142) can be calculated by the following formula: Outer 1

[0082] For visualization, the binary region U may need to be converted into a mesh or contour structure. For this purpose, the calculation can include marching squares or marching cubes as post - processing steps.

[0083] The untreated area can be visualized in 2D, for example, on top of a multi - planar reformatted (MPR) visualization of a 3D image volume covering the treated area, or on top of a live ultrasound image that is aligned with the applicator plan by real - time tracking.

[0084] The following FIGS. 6 and 7 provide examples of visualization of 2D untreated areas. FIG. 6 shows an example of a planning magnetic resonance image 534. An anatomical segmentation 122 having a target zone segmentation 124 and an ablation zone 600 is visible.

[0085] FIG. 7 shows the locations of the same segmentations 122, 124 and ablation zone 600 in an ultrasound image 700. The location of the recommended position of the ablation probe 702 is also displayed.

[0086] The untreated area (remaining portion 142) can be visualized in 3D, for example, by a shaded surface in combination with other anatomical parts, to clarify the relative position of the untreated area with respect to the surrounding tissue.

[0087] Figures 8 and 9 show two views of the third panel 134. In Figure 8, the remaining portion 142 is the entire target zone segmentation 124. The ablation zone 144 is selected. After this is selected, the volume of the ablation zone is removed from the remaining portion 142. Figure 9 shows the remaining portion 142 after the ablation zone 144 has been removed.

[0088] In a transperineal prostate procedure, visualization can include visualization of the transperineal grid template (needle guidance device) into which the applicator is inserted. This enables the user to determine the correct approach for covering the untreated area.

[0089] Figure 10 shows an alternative means of visualization. Shown in Figure 10 is a rendering of a transperineal grid template that arranges a matrix of circles labeled A-M and 1-13. These represent the individual different locations where an ablation probe can be inserted. Below this grid 1000, the ablation zone 600 and the remaining portion 124 are shown. Overlaying the ablation zone 600 on the remaining portion 124 on the grid 1000 can assist the operator in visualizing the appropriate locations for inserting the ablation probe.

[0090] When including more regions regarding healthy tissue and risk organs, it is also conceivable to create these 3D surface renderings with advanced techniques such as glass rendering.

[0091] When an untreated area is visualized in 3D rendering, in parallel with the MPR visualization of the 3D image volume of the area to be treated, the system can incorporate navigation assistance to position the MPR viewer based on the clicked untreated area so as to be visualized in 3D rendering.

[0092] In some examples, when an untreated area is visualized, the user can: By clicking on a location within the untreated area (in the MPR view or 3D rendering): By clicking on a needle trajectory passing through the untreated area (e.g., clicking on the grid holes of a prostate procedure); or By clicking a button to initiate automatic planning, It may be possible to plan an ablation within the untreated area.

[0093] The visualization of the untreated area plays an important role between two decision points in an ablation procedure guided by an ATPS.

[0094] The first point is the review and approval of the plan embedded by the user. Before starting to do so, the user can examine their plan to evaluate whether there are any uncovered areas remaining in the target lesion.

[0095] The second point is after the placement of the applicator, in which case a slight deviation from the plan is inevitable. Such a deviation can result in a small untreated area between the applicators, which can now be easily visualized. If there is a gap, the user can decide whether to plan for further ablation, place an applicator in the untreated area, or accept the gap as it is. Examples can provide a medical device having one or more of the following features: A medical device capable of calculating and displaying an untreated area within a target for an ablation treatment. A medical device capable of visualizing an untreated area with respect to a needle guidance device. A medical device capable of calculating a new ablation plan covering an untreated area. A medical device in which the display of the untreated area is achieved using 2D rendering technology. A medical device in which the display of the untreated area is achieved using 3D rendering technology.

[0096] Although the present invention has been illustrated and described in detail in the drawings and the foregoing description, such illustrations and descriptions should be considered illustrative or exemplary and not restrictive. The present invention is not limited to the disclosed embodiments.

[0097] Other variations to the disclosed embodiments will be understood and can be implemented by those skilled in the art when implementing the invention described in the claims, from a consideration of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and the indefinite article "a" or "an" does not exclude a plurality. A single processor or other unit can perform the functions of several items listed in the claims. The mere fact that certain means are recited in mutually different dependent claims does not indicate that a combination of these means cannot be used advantageously. A computer program can be stored / distributed on a suitable medium such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but can also be distributed in other forms via the Internet or other wired or wireless telecommunications systems. Any reference signs in the claims should not be construed as limiting their scope. The following are appended various forms of the present invention. (Appendix 1) A medical device, A user interface having a display, A memory storing machine-executable instructions, A computing system configured to control the medical device, and having, The execution of the machine-executable instructions causes the computing system to Receive anatomical segmentation for identifying the location of an anatomical structure, Receive target zone segmentation for identifying the location of a volume at least partially within the anatomical segmentation, Display a planning graphical user interface using the display, the planning graphical user interface having a first panel configured to render a cross-section of the anatomical segmentation and a cross-section of the target zone segmentation, the planning graphical user interface further having a second panel configured to display a rendering of a first three-dimensional model of the anatomical segmentation and the target zone segmentation, the planning graphical user interface further having a third panel configured to render a second three-dimensional model of the remaining portion of the target zone segmentation, and the planning graphical user interface further having an ablation selector configured to provide a user-selectable ablation zone indicating a volume at least partially within the remaining portion, and cause, Receive the ablation zone from the ablation selector, Update the remaining portion by removing the ablation zone from the remaining portion, A medical device that causes the above to be executed. (Appendix 2) The ablation selector is configured to receive a selection of a volume within the remaining portion, and execution of the machine-executable instructions further causes the computing system to generate the ablation zone in response to receiving the selection of the volume from the ablation selector, the medical device according to appendix 1. (Appendix 3) The ablation selector is configured to receive a selection of a trajectory intersecting the remaining portion, and execution of the machine-executable instructions further causes the computing system to generate the ablation zone in response to receiving the selection of the trajectory from the ablation selector, the medical device according to appendix 1 or 2. (Appendix 4) The memory further has an automatic planning module configured to output the ablation zone in response to inputting the remaining portion, the ablation selector is configured to receive an automatic planning request, and execution of the machine-executable instructions causes the computing system to input the remaining portion into the automatic planning module in response to receiving the automatic planning request, thereby generating the ablation zone, the medical device according to any one of appendices 1 to 3. (Appendix 5) Execution of the machine-executable instructions further causes the processor to generate an insertion instruction for inserting the ablation probe in response to receiving the ablation zone from the ablation selector, the medical device according to any one of appendices 1 to 4. (Appendix 6) The medical device has an ablation probe system having an ablation probe, and the medical device further has an ablation probe tracking system registered to the anatomical segmentation, Execution of the machine-executable instructions further causes the computing system to receive probe tracking data from the ablation probe, and update the remaining portion using the probe tracking data, and execute, the medical device. (Appendix 7) The ablation probe is one of a radiofrequency ablation probe, a microwave ablation probe, a high-density focused ultrasound ablation probe, a focused laser ablation probe, an irreversible electroporation probe, and a cryoablation probe, which is the medical device described in Supplementary Note 6. (Supplementary Note 8) The medical device further has a guidance medical imaging system, The execution of the machine-executable instructions further causes the computing system to control the guidance medical imaging system to acquire guidance medical image data in real time during acquisition of tracking data from the ablation probe; display the guidance medical image data on the user interface in real time; which is the medical device described in Supplementary Note 6 or 7. (Supplementary Note 9) The guidance medical imaging system is one of a computed tomography system, an ultrasonic imaging system, a magnetic resonance imaging system, and an X-ray fluoroscope, which is the medical device described in Supplementary Note 8. (Supplementary Note 10) The execution of the machine-executable instructions further causes the computing system to execute a step of receiving a planning magnetic resonance image representing a region of interest of a subject, wherein the anatomical segmentation identifies the location of the anatomical structure in the planning magnetic resonance image, and the first panel is further configured to render a cross-sectional view of the planning magnetic resonance image, which is the medical device described in any one of Supplementary Notes 1 to 9. (Supplementary Note 11) The memory further stores an automatic segmentation algorithm that generates the anatomical segmentation and / or the target zone segmentation in response to an input of the planning magnetic resonance image, The execution of the machine-executable instructions further causes the computing system to execute a step of generating the anatomical segmentation and / or the target zone segmentation by inputting the planning magnetic resonance image into the automatic segmentation algorithm, which is the medical device described in Supplementary Note 10. (Supplementary Note 12) The medical device further includes a planning magnetic resonance imaging system configured to acquire planning k-space data describing the subject, and the memory further includes planning pulse sequence commands for controlling the magnetic resonance imaging system to acquire the planning k-space data. The execution of the machine-executable instructions further causes the computing system to control a planning magnetic resonance imaging system using the planning pulse sequence commands to acquire the planning k-space data; reconstruct a planning magnetic resonance image from the planning k-space data; The medical device according to claim 10 or 11, which causes the above steps to be executed. (Appendix 13) The display is a three-dimensional display, The medical device according to any one of Appendices 1 to 12, wherein the execution of the machine-executable instructions further causes the computing system to perform a step of three-dimensionally rendering the first three-dimensional model and the second three-dimensional model using the three-dimensional display. (Appendix 14) A computer program having machine-executable instructions for execution by a computing system that controls a medical device, the medical device having a user interface with a display, and the execution of the machine-executable instructions causing the computing system to receive an anatomical segmentation that identifies the location of an anatomical structure; receive a target zone segmentation that identifies the location of a volume that is at least partially within the anatomical segmentation; Using the display to display a planning graphical user interface, the planning graphical user interface having a first panel configured to render a cross-sectional view of the anatomical segmentation and a cross-sectional view of the target zone segmentation, the planning graphical user interface further having a second panel configured to display a rendering of a first three-dimensional model of the anatomical segmentation and the target zone segmentation, the planning graphical user interface further having a third panel configured to render a second three-dimensional model of the remaining portion of the target zone segmentation, and the planning graphical user interface further having an ablation selector that provides a user-selectable ablation zone that describes a volume that is at least partially within the remaining portion, the step of causing to execute the execution of the machine-executable instructions further causing the computing system to receive the ablation zone from the ablation selector, the step of updating the remaining portion by removing the ablation zone from the remaining portion, the step of A computer program causing to execute. (Appendix 15) A method of operating a medical device, the medical device having a user interface, the user interface having a display, The method includes receiving an anatomical segmentation that identifies a location of an anatomical structure, the step of receiving a target zone segmentation that identifies a location of a volume that is at least partially within the anatomical segmentation, the step of A step of displaying a planning graphical user interface using the display, wherein the planning graphical user interface has a first panel configured to render a cross-sectional view of the anatomical segmentation and a cross-sectional view of the target zone segmentation, the planning graphical user interface further has a second panel configured to display a rendering of a first three-dimensional model of the anatomical segmentation and the target zone segmentation, the planning graphical user interface further has a third panel configured to render a second three-dimensional model of the remaining portion of the target zone segmentation, and the planning graphical user interface further has an ablation selector configured to provide a user-selectable ablation zone that describes a volume at least partially within the remaining portion. having, and the method further iteratively receiving the ablation zone from the ablation selector; updating the remaining portion by removing the ablation zone from the remaining portion; A method comprising performing.

Description of Symbols

[0098] 100 Medical device 102 Computer 104 Hardware interface 106 Computing system 108 User interface 110 Memory 112 Planning graphical user interface 120 Machine-executable instructions 122 Anatomical segmentation 124 Target zone segmentation 126 Automatic planning module 128 Insertion instruction 130 First panel 132 Second panel 134 Third panel 136 Cross-sectional view of anatomical segmentation 138 Cross-sectional view of target zone segmentation 140 First three-dimensional model 142 Second three-dimensional model of the remaining part 144 Ablation zone selector (volume selector) 144' Ablation zone selector (trajectory selector) 146 Automatic planning request control 148 Display the insertion instruction 200 Medical device 300 Receive anatomical segmentation that identifies the location of anatomical structures 302 Receive target zone segmentation that identifies a volume that is at least partially within the anatomical segmentation 304 Use a display to display a planning graphical user interface 306 Receive an ablation zone from an ablation selector 308 Update the remaining part by removing the ablation zone from the remaining part 310 Has the iteration ended? 312 End 400 Medical device 402 Guidance medical imaging system 404 Imaging zone 406 Ablation probe system 408 Subject 410 Support 412 Ablation Probe Tracking System 416 Anatomical Structure 418 Target Zone 420 Probe Tracking Data 422 Guidance Medical Image Data 424 Real-Time Rendering of Guidance Medical Image Data 500 Medical Device 502 Planning Magnetic Resonance Imaging System 504 Magnet 506 Bore of Magnet 508 Imaging Zone 509 Region of Interest 510 Magnetic Field Gradient Coil 512 Magnetic Field Gradient Coil Power Supply 514 Radio Frequency Coil 516 Transceiver 520 Subject Support 530 Planning Pulse Sequence Command 532 Planning k-Space Data 534 Planning Magnetic Resonance Image 536 Automatic Segmentation Algorithm 600 Ablation Zone 700 Ultrasonic Image 702 Location of Ablation Probe 1000 Transperineal Grid Template

Claims

**Claim 1** A medical device, A user interface having a display, A memory storing machine-executable instructions, A computing system configured to control the medical device, Having, Execution of the machine-executable instructions causes the computing system to, Receive an anatomical segmentation that identifies the location of an anatomical structure, Receive a target zone segmentation that identifies the location of a volume that is at least partially within the anatomical segmentation, Using the display, display a planning graphical user interface, wherein the planning graphical user interface has a first panel configured to render a cross-section of the anatomical segmentation and a cross-section of the target zone segmentation, the planning graphical user interface further has a second panel configured to display a rendering of a first three-dimensional model of the anatomical segmentation and the target zone segmentation, the planning graphical user interface further has a third panel configured to render a second three-dimensional model of the remaining portion of the target zone segmentation, and the planning graphical user interface further has an ablation selector configured to provide a plurality of user-selectable ablation zones, each ablation zone indicating a volume that is at least partially within the remaining portion and that a user can select to ablate the target zone segmentation, Causing execution, and execution of the machine-executable instructions further causes the computing system to, Receive one ablation zone from the plurality of ablation zones provided by the ablation selector, Update the remaining portion by removing the received ablation zone from the remaining portion, A medical device that repeatedly executes. **Claim 2** The ablation selector is configured to receive a selection of a volume within the remaining portion, and execution of the machine-executable instructions further causes the computing system to generate the ablation zone in response to receiving the selection of the volume from the ablation selector. The medical device according to claim 1.

3. The ablation selector is configured to receive a selection of a trajectory that intersects the remaining portion, and execution of the machine-executable instructions further causes the computing system to generate the ablation zone in response to receiving the selection of the trajectory from the ablation selector. The medical device according to claim 1 or 2.

4. The memory further has an automatic planning module configured to output the ablation zone in response to inputting the remaining portion. The ablation selector is configured to receive an automatic planning request, and execution of the machine-executable instructions causes the computing system to input the remaining portion to the automatic planning module in response to receiving the automatic planning request, thereby generating the ablation zone. The medical device according to any one of claims 1 to 3.

5. Execution of the machine-executable instructions further causes the computing system to generate an insertion instruction for inserting an ablation probe in response to receiving the ablation zone from the ablation selector. The medical device according to any one of claims 1 to 4.

6. The medical device has an ablation probe system having an ablation probe, and the medical device further has an ablation probe tracking system registered to the anatomical segmentation. Execution of the machine-executable instructions further causes the computing system to receive probe tracking data from the ablation probe; update the remaining portion using the probe tracking data; The medical device according to any one of claims 1 to 5.

7. The ablation probe is any one of a radiofrequency ablation probe, a microwave ablation probe, a high-density focused ultrasound ablation probe, a focused laser ablation probe, an irreversible electroporation probe, and a cryoablation probe, the medical device according to claim 6.

8. The medical device further has a guidance medical imaging system, The execution of the machine-executable instructions further causes the computing system to control the guidance medical imaging system to acquire guidance medical image data in real time during acquisition of tracking data from the ablation probe; and display the guidance medical image data on the user interface in real time; The medical device according to claim 6 or 7, which executes the steps.

9. The guidance medical imaging system is any one of a computed tomography system, an ultrasonic imaging system, a magnetic resonance imaging system, and an X-ray fluoroscope, the medical device according to claim 8.

10. The execution of the machine-executable instructions further causes the computing system to execute a step of receiving a planning magnetic resonance image representing a region of interest of a subject, The anatomical segmentation identifies the location of the anatomical structure in the planning magnetic resonance image, and the first panel is further configured to render a cross-sectional view of the planning magnetic resonance image, the medical device according to any one of claims 1 to 9.

11. The memory further stores an automatic segmentation algorithm that generates the anatomical segmentation and / or the target zone segmentation in response to an input of the planning magnetic resonance image, The execution of the machine-executable instructions further causes the computing system to execute a step of generating the anatomical segmentation and / or the target zone segmentation by inputting the planning magnetic resonance image into the automatic segmentation algorithm, the medical device according to claim 10.

12. The medical device further includes a planning magnetic resonance imaging system configured to acquire planning k-space data describing the subject, and the memory further includes a planning pulse sequence command for controlling the planning magnetic resonance imaging system to acquire the planning k-space data. The execution of the machine-executable instructions further causes the computing system to control a planning magnetic resonance imaging system using the planning pulse sequence command to acquire the planning k-space data; reconstruct the planning magnetic resonance image from the planning k-space data; The medical device according to claim 10 or 11, which causes the above steps to be executed.

13. The display is a three-dimensional display, The execution of the machine-executable instructions further causes the computing system to perform a step of three-dimensionally rendering the first three-dimensional model and the second three-dimensional model using the three-dimensional display. The medical device according to any one of claims 1 to 12.

14. A computer program having machine-executable instructions for execution by a computing system that controls a medical device, the medical device having a user interface with a display, and the execution of the machine-executable instructions causing the computing system to receive an anatomical segmentation that identifies the location of an anatomical structure; receive a target zone segmentation that identifies the location of a volume that is at least partially within the anatomical segmentation; A step of displaying a planning graphical user interface using the display, wherein the planning graphical user interface has a first panel configured to render a cross-sectional view of the anatomical segmentation and a cross-sectional view of the target zone segmentation, the planning graphical user interface further having a second panel for displaying the rendering of a first three-dimensional model of the anatomical segmentation and the target zone segmentation, the planning graphical user interface further having a third panel for rendering a second three-dimensional model of the remaining portion of the target zone segmentation, the planning graphical user interface further having an ablation selector for providing a plurality of ablation zones selectable by a user, each ablation zone indicating a volume that is at least partially within the remaining portion and that can be selected by the user to ablate the target zone segmentation, and causing to execute, the execution of the machine-executable instructions further causes the computing system to receive one ablation zone from the plurality of ablation zones provided by the ablation selector, update the remaining portion by removing the received ablation zone from the remaining portion, a computer program that causes to execute iteratively. **Claim 15** A method of operating a medical device, wherein the medical device has a user interface and the user interface has a display, the method includes receiving an anatomical segmentation that identifies the location of an anatomical structure, receiving a target zone segmentation that identifies the location of a volume that is at least partially within the anatomical segmentation, A step of displaying a planning graphical user interface using the display, wherein the planning graphical user interface has a first panel configured to render a cross-sectional view of the anatomical segmentation and a cross-sectional view of the target zone segmentation, the planning graphical user interface further has a second panel configured to display a rendering of a first three-dimensional model of the anatomical segmentation and the target zone segmentation, the planning graphical user interface further has a third panel configured to render a second three-dimensional model of the remaining portion of the target zone segmentation, the planning graphical user interface further has an ablation selector configured to provide a plurality of ablation zones selectable by a user, each ablation zone indicating a volume that is at least partially within the remaining portion and that can be selected by the user to ablate the target zone segmentation, and having, the method further comprising receiving, by the ablation selector, one ablation zone from the plurality of ablation zones provided by the ablation selector; updating the remaining portion by removing the received ablation zone from the remaining portion; a method including repeatedly performing the above steps.

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