Method and apparatus for determining execution parameter of vapor needle, and vapor ablation system

Abstract

The present application provides a method and apparatus for determining an execution parameter of a vapor needle, and a vapor ablation system. The method comprises: S1, a needle exit point presetting step: acquiring an initial image of a target region, determining the number of needle exit points on the basis of the initial image, and determining a preset parameter of each needle exit point; S2, a vapor needle image registration step: acquiring a virtual needle image of a vapor needle, and displaying the virtual needle image in the initial image in a superimposed manner; acquiring a real-time image of the target region, the real-time image comprising a vapor needle image corresponding to the vapor needle in the target region; and registering the real-time image with the initial image; S3, a parameter determination step: establishing a mapping relationship between a movement distance of the vapor needle image in the real-time image and a movement distance of the virtual needle image in the initial image; and at least on the basis of the mapping relationship, converting a preset parameter of a needle exit point into an execution parameter of the vapor needle, thereby improving operation accuracy and efficiency.

Description

Method and device for determining execution parameters of a vapor needle, and vapor ablation system TECHNICAL FIELD

[0001] The present application relates to a method and device for determining execution parameters of a vapor needle, and a vapor ablation system, which can be applied to an automatic or semi-automatic vapor ablation system, can quickly determine the execution parameters of the vapor needle, and improve the operation accuracy and efficiency of the vapor ablation operation. BACKGROUND

[0002] The prior art has a vapor needle for tissue ablation. In the use process, the doctor inserts the execution device into the urethra, needs to judge the treatment point of tissue ablation according to experience, selects the position considered appropriate by the doctor, controls the vapor needle to be out of the needle, and operates the handle or button to release the vapor. When there are multiple treatment points, the vapor release is completed at the first out-of-needle position, the vapor needle is withdrawn, and the vapor needle is moved to the second out-of-needle position to release the vapor. The above process is repeated until the out-of-needle and vapor ablation of the multiple treatment points are completed.

[0003] This process needs to be manually and repeatedly operated by the doctor, and the efficiency is low and depends on the experience of the doctor to complete the vapor needle out-of-needle position positioning. Since there are individual differences in the characteristics of the tissue region of each patient, the ablation effect of the vapor release after the vapor needle is inserted has a blind box effect, and the action range and treatment effect cannot be accurately predicted, which brings great uncertainty to the effect of the vapor ablation operation, and may cause unexpected damage. In addition, the length of the vapor needle extending from the sheath and the jet range of the vapor are fixed in the current technology, and cannot be dynamically adjusted according to the operation requirements, and cannot be applied to patients with large individual differences, such as patients with small or large tissue volume, which may cause the operation effect to be not good enough, such as excessive or insufficient resection range. SUMMARY

[0004] The present application is proposed based on the above problems in the background art, and aims to provide an execution parameter determination method, device and vapor ablation system for a vapor needle, which can improve operation accuracy and efficiency. In order to achieve the above-mentioned purpose, the present application provides an execution parameter determination method for a vapor needle, comprising the following steps: S1 needle point position presetting step, acquiring an initial image of a target region, determining the number of needle point positions based on the initial image, and determining the preset parameters of each needle point position, the preset parameters of each needle point position including the action center position and the ablation radius; S2 vapor needle image registration step, acquiring a virtual needle image of the vapor needle, and superimposing and displaying the virtual needle image in the initial image; acquiring a real-time image of the target region, the real-time image including a vapor needle image corresponding to the vapor needle in the target region; registering the real-time image with the initial image; S3 parameter determination step, establishing a mapping relationship between the movement distance of the vapor needle image in the real-time image and the movement distance of the virtual needle image in the initial image; and converting the preset parameters of the needle point position into the execution parameters of the vapor needle based at least on the mapping relationship.

[0005] In a preferred mode, the vapor needle can be inserted into the needle point position along the axial direction according to the execution parameters; in the preset parameters of each needle point position, the action center position includes: a preset needle position of the vapor needle, a preset needle angle, and a preset needle length; and the ablation radius is a preset vapor action range.

[0006] According to the foregoing technical solution, the positions of each point position and the corresponding preset parameters of the vapor needle are preset, which facilitates improving the accuracy and efficiency of vapor needle positioning and operation.

[0007] In a preferred mode, the preset needle position is the position of the needle point position in the axial direction, the preset needle length is the length of the needle head of the vapor needle extending transversely to the axis, and the preset needle angle is the included angle between the needle direction of the vapor needle and the axial direction.

[0008] In a preferred mode, in the parameter determination step, establishing the mapping relationship comprises: controlling the movement of the vapor needle, observing the pixel distance of the movement of the vapor needle image in the real-time image, simultaneously moving the virtual needle image in the initial image in the same direction by the same pixel distance, and obtaining a scaling coefficient according to the position deviation of the two.

[0009] In a preferred manner, the execution parameters of the vapor needle include an execution needle-out position, an execution rotation angle, an execution needle-out length, and an execution ablation radius, wherein the execution rotation angle is determined based on the preset needle-out angle, and the execution needle-out position, the execution needle-out length, and the execution ablation radius are determined based on the preset needle-out position, the preset needle-out length, the ablation radius, and the scaling factor respectively.

[0010] In a preferred manner, in the vapor needle image registration step, the real-time image is first registered with the initial image, and then the position and / or attitude of the vapor needle is adjusted so that the vapor needle image in the real-time image is registered with the virtual needle image in the initial image.

[0011] In a preferred manner, in the vapor needle image registration step, the intersection area between the virtual ablation range corresponding to the virtual needle image and the planned ablation range corresponding to the preset parameters is greater than a preset range threshold.

[0012] In a preferred manner, the real-time image is a sagittal plane image of the target region, and the vapor needle image registration step is performed when the angle between the vapor needle and the sagittal plane is less than a preset angle threshold.

[0013] In a preferred manner, the angle between the vapor needle and the sagittal plane is observed and adjusted according to a preset gradient in the real-time image, in which the highlight area of the vapor needle image gradually darkens towards both ends of the vapor needle image.

[0014] The present application also provides an execution parameter determination device for a vapor needle, which comprises the following modules: a needle-out point position preset module, configured to obtain an initial image of a target region, determine the number of needle-out point positions based on the initial image, and determine preset parameters of each needle-out point position, wherein the preset parameters of each needle-out point position include a center position and an ablation radius; a vapor needle image registration module, configured to obtain a virtual needle image of the vapor needle, and superimpose and display the virtual needle image in the initial image; obtain a real-time image of the target region, wherein the real-time image includes a vapor needle image corresponding to the vapor needle in the target region; register the real-time image with the initial image; and a parameter determination module, configured to establish a mapping relationship between the movement distance of the vapor needle image in the real-time image and the movement distance of the virtual needle image in the initial image; and convert the preset parameters of the needle-out point positions into execution parameters of the vapor needle based at least on the mapping relationship.

[0015] The application further provides a vapor ablation system, comprising an imaging unit configured to provide a real-time image of a target region; a vapor needle configured to be slidably arranged in a sheath tube, and capable of being inserted into a predetermined cavity together with the sheath tube, and extending out of an insertion end of the sheath tube to the target region; and a control unit configured to determine an execution parameter of the vapor needle according to the execution parameter determination method for the vapor needle, and control the vapor needle to perform an ablation operation.

[0016] The foregoing scheme provided by the application is configured to set the controllable and adjustable execution parameter of the execution mechanism of the vapor needle in the special scenario of vapor needle tissue ablation, and establish the correlation between the planning parameter and the execution parameter by registering the vapor needle image and the virtual needle image, so as to realize visual auxiliary operation, facilitate rapid determination of a treatment scheme, and facilitate rapid and accurate positioning of the pose of the vapor needle in the operation process, and the operation efficiency and accuracy can be greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the application, the drawings of the specification of the application will be described and explained below. Obviously, the drawings described below only illustrate some aspects of some exemplary embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings.

[0018] Fig. 1 is a flowchart of a vapor needle execution parameter determination method according to an embodiment of the application.

[0019] Fig. 2 is a schematic diagram of a target region and each plane image according to an embodiment of the application.

[0020] Fig. 3 is a schematic diagram of a needle exit point in a horizontal plane image according to an embodiment of the application.

[0021] Fig. 4 is a schematic diagram of a needle exit point in a sagittal plane image according to an embodiment of the application.

[0022] Fig. 5 is a schematic diagram of a needle exit point in a transverse plane image according to an embodiment of the application.

[0023] Fig. 6 is a schematic diagram of a virtual needle image and a vapor needle in a sagittal plane image according to an embodiment of the application.

[0024] Fig. 7 is a schematic diagram of a corner in a transverse plane image according to an embodiment of the application.

[0025] Fig. 8 is a schematic diagram of a needle structure of a vapor needle according to an embodiment of the application.

[0026] Fig. 9 is a schematic diagram of a temperature field principle of an action region of a vapor needle according to an embodiment of the application.

[0027] FIG. 10 is a structural schematic diagram of a vapor ablation system according to an embodiment of the present application.

[0028] FIG. 11 is a structural schematic diagram of a vapor actuator in a vapor ablation system according to an embodiment of the present application.

[0029] BRIEF DESCRIPTION OF DRAWINGS 11 first point 110 first sheath outlet 12 second point 120 second sheath outlet 13 third point 14 fourth point 21 virtual needle 22 vapor needle 220 vapor needle outlet 220' vapor needle outlet image 3 sheath 4 target area 5 handle DETAILED DESCRIPTION

[0030] Various exemplary embodiments of the present application are described in detail herein below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative in nature and is in no way intended to limit the application, its application, or uses, to which it is applicable. The present application can be embodied in a multitude of different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the application to those skilled in the art. It should be noted that relative arrangements of components and steps, numerical expressions, and values set forth in these embodiments are to be interpreted as merely exemplary, unless otherwise specified.

[0031] As used in the present application, the term "comprise" or "comprising" and similar terms mean that the elements listed after the term encompass not only those elements listed but also other possible elements.

[0032] All terms used in the present application, including technical or scientific terms, have the same meanings as those that are generally used by a person skilled in the art unless otherwise defined in the present application. It should also be noted that the terms such as those defined in a generally used dictionary should be interpreted in accordance with the meanings in the context of the relevant technology and should not be interpreted ideally or excessively unless explicitly defined in the present application.

[0033] For components not described in detail in the present section, specific models of components, parameters of components, and the mutual relationship between components, and control circuit, can be considered as known technology, methods, and devices to a person skilled in the art, but in appropriate cases, the technology, methods, and devices should be considered as a part of the specification.

[0034] It should be noted that, although the operations of the methods of the present application are described in a particular, sequential order for convenient presentation, unless otherwise specified, this sequence is not necessarily indicative of the order in which various operations were actually performed. Indeed, certain steps could be performed in an order different from that described, and / or certain steps could be performed concurrently. Additionally or alternatively, certain steps could be omitted, combined, and / or performed in a different manner.

[0035] Referring first to FIGS. 1-2, the method of determining the execution parameters of the vapor needle 22 is generally described with respect to FIGS. 8-11.

[0036] The present application introduces heated vapor into the target region 4 to be ablated or resected by the vapor needle 22, and ablates the target region 4 by releasing the vapor. It should be noted that the vapor described in the present application includes but is not limited to water vapor, and can also be other ablation media in gaseous state or gas-liquid two-phase state.

[0037] The vapor needle 22 includes an elongated body that is slidably disposed within the sheath tube 3. Illustratively, the target region 4 is the prostate, and the vapor needle 22 can be inserted into the predetermined site along the channel defined by the sheath tube 3 or in a similar manner through the predetermined cavity such as the urethra, and then the needle head of the vapor needle 22 extends from the distal end of the sheath tube 3 and is inserted into the target region 4. The vapor is sprayed from the needle hole near the front end of the vapor needle 22, and the high-temperature vapor is rapidly dispersed through the intercellular space in a convection manner after being sprayed from the needle hole, and then condenses and liquefies, releasing a large amount of heat, which immediately causes the hyperplastic tissue cells to necrose. After the cells necrose, they gradually naturally atrophy, shrink in volume, and are finally absorbed by the human body, achieving the purpose of ablating the surrounding tissue.

[0038] It should be understood that the vapor needle 22 of the present application is not only suitable for the ablation of the prostate, but also suitable for the ablation of other tissues in similar situations, without being specifically limited.

[0039] Figure 8 shows a schematic diagram of the structure of the vapor needle 22. As can be seen, a plurality of vapor outlet holes are provided near the needle head of the vapor needle 22. The needle holes can be arranged in multiple rows. The needle body is hollow, and the vapor passes through the hollow needle body to the needle holes from the vapor generating device. The temperature field formed is shown in Figure 9, which is a schematic diagram of the temperature field of the action area of the vapor needle 22. As can be seen, a generally spherical temperature field distribution is formed around the needle hole. It should be noted that the temperature field distribution shown in Figure 9 is only approximately spherical, and is not strictly spherical. Depending on the difference in the arrangement length of the needle holes, the temperature field distribution shape will be slightly different. More often, the temperature field distribution shape can be ellipsoidal or peach-shaped. It should be understood that regardless of the shape, a spherical fitting can be used to obtain the radius R of the approximately spherical area. According to experiments, temperature is one of the decisive parameters affecting cell survival. High temperature can change the permeability and fluidity of the cell membrane, leading to primary cytoplasmic damage. When the temperature of the tissue reaches 60-100℃ or above, the cells can be heat-coagulated and necrotized within 10s. Therefore, according to the temperature field distribution law, the ablation area is defined by the parameter R, which is the radius of the approximately spherical vapor action range. The action range is related to the temperature field distribution of the vapor needle 22, for example, the area near the needle hole where the temperature is above 60℃.

[0040] Figure 10 shows a schematic diagram of the structure of the vapor ablation system provided according to an embodiment of the present application. The vapor ablation system comprises a vapor execution mechanism, a motion control module, an image planning module, and an ultrasonic stepper module.

[0041] The vapor execution mechanism comprises a vapor needle assembly and a handle assembly. The vapor needle assembly can comprise a sheath tube 3, the front end of which has a vapor needle outlet 220 through which the vapor needle 22 can extend. The handle assembly is attached to the sheath tube 3 and the vapor needle 22, and by operating the handle assembly, the motion of the vapor needle 22 and the release of the vapor can be controlled.

[0042] The motion control module is attached to the vapor needle 22 of the vapor execution mechanism, and can control the motion of the vapor needle 22 and the release of the vapor. In this embodiment, the sheath tube 3 is elongated as a whole, and the direction in which the elongated sheath tube 3 extends as a whole is the axial direction, i.e., the axial direction. The motion controlled by the motion control module includes: linear motion of the vapor needle 22 along the axial direction, rotational motion of the vapor needle 22 in a transverse plane perpendicular to the axial direction, and extension motion of the needle head of the vapor needle 22 from the vapor needle outlet 220 in a direction substantially transverse to the axial direction to a treatment point. The motion control module can also control the vapor action range of the vapor needle 22.

[0043] The image planning module comprises an MR or ultrasound or endoscope or fused image generation module, and a planning module. The planning module can plan based on the image to obtain planning parameters.

[0044] An ultrasonic stepper module comprises an ultrasonic probe (e.g. a transrectal ultrasonic probe TRUS) and a stepper device for driving the ultrasonic probe to perform linear and / or rotational motion.

[0045] The motion control module comprises four sub-modules, namely a linear motion control sub-module, a rotational motion control sub-module, a depth control sub-module, and a range control sub-module. The linear motion control sub-module comprises a linear motion driving motor and a linear motion transmission assembly, for example, for controlling linear motion of the vapor needle 22 along an axial direction. The rotational motion control sub-module comprises a rotational motion driving motor and a rotational motion transmission assembly, for example, for controlling rotational motion of the vapor needle 22 in a transverse plane. The depth control sub-module comprises a driving motor and an actuating mechanism, for example, for controlling motion of a needle head of the vapor needle 22 from a vapor needle outlet 220 to a treatment site in a direction substantially transverse to the axial direction. The range control sub-module comprises a vapor control mechanism and an actuating mechanism, for example, for controlling a vapor range by adjusting parameters such as temperature, pressure, action time, and speed of the vapor. The motion control module can convert the planning parameters of the image planning module into execution parameters, and control actions of the sub-modules according to the execution parameters.

[0046] Referring to FIG. 1, the present application provides a method for determining execution parameters of a vapor needle 22, which mainly comprises the following steps:

[0047] Step S1: a needle exit point presetting step, obtaining an initial image of a target region 4, determining a number of needle exit points based on the initial image, and determining preset parameters of each needle exit point, the preset parameters of each needle exit point comprising a center position and an ablation radius;

[0048] Step S2: a vapor needle image registration step, obtaining a virtual needle image of the vapor needle, and superimposing and displaying the virtual needle image in the initial image; obtaining a real-time image of the target region 4, the real-time image comprising a vapor needle image corresponding to the vapor needle in the target region 4; and registering the real-time image with the initial image.

[0049] Step S3: a parameter determining step, establishing a mapping relationship between a moving distance of the vapor needle image in the real-time image and a moving distance of the virtual needle image in the initial image, and converting the preset parameters of the needle exit points into execution parameters of the vapor needle based on at least the mapping relationship.

[0050] Hereinafter, the above method steps are described in detail:

[0051] In the S1 needle exit point presetting step, an initial image of a target region 4 is first obtained.

[0052] The image planning module is used to obtain an image of the region where the target region 4 is located. A three-dimensional or key two-dimensional plane ultrasound image containing the target region 4 can be obtained by using an ultrasonic stepper to drive an ultrasonic probe. The ultrasonic probe has been calibrated. The target region 4 cross-sectional image is obtained by using the calibrated ultrasonic probe. The conversion relationship between the pixels in the ultrasound and the real world size has been calibrated. The conversion matrix T_us_image2world is defined. The target region 4 cross-sectional image is obtained by fixed-step scanning. The three-dimensional image can be obtained by three-dimensional reconstruction of the obtained series of cross-sectional images, and the image coordinate system Image_coordinates of each operation surface is formed. As shown in FIG. 2, the obtained three-dimensional image is the initial image of the target region 4. In an alternative embodiment, the initial image can also be a two-dimensional image set. The two-dimensional images in the two-dimensional image set can be directly obtained by the ultrasonic probe or can be obtained by slicing the three-dimensional image.

[0053] Referring to FIG. 2, the elliptical region is the contour of the target region 4 to be removed. The vapor needle 22 is inserted along the y-axis direction. The insertion process can be guided by the sheath 3 or the like, and can be rotated and swung in the cross section perpendicular to the y-axis. After the vapor needle 22 is inserted into the front end of the sheath 3 or the like, the vapor needle 22 can be bent, and the needle part extends from the vapor needle outlet 220. The plane defined by the yz two axes is the sagittal plane, the plane defined by the xz two axes is the cross section perpendicular to the sagittal plane, and the plane defined by the xy two axes is the horizontal plane. It should be understood that the contour of the target region 4 is usually irregular. Here, the contour of the target region 4 is simplified as an ellipse, the xy plane is the horizontal plane, the z-axis direction is the up-down direction, and the insertion direction of the vapor needle 22 is the front direction toward the target region 4, and vice versa. Hereinafter, the description of the direction is the same as this unless otherwise specified.

[0054] After obtaining the initial image of the target region 4, the number of needle point positions is determined based on the initial image. The size of the target region 4 can be estimated based on the image information, and the number of needle point positions can be determined according to the size of the target region 4. As a preferred way, a general treatment scheme of the target region 4 is obtained in advance according to a large number of experiments. For example, a treatment scheme template of 4-10 point positions is set according to the size of the target region 4 to meet the treatment needs of target regions 4 of different sizes.

[0055] Further, the preset parameters of each needle point position are determined. After the number of needle point positions is determined, the corresponding preset parameters of each needle point position are determined.

[0056] A pre-made treatment plan template library is generated in advance according to a large number of experiments to obtain a general treatment plan of the target region 4. For example, a 4, 6 or 8 needle treatment plan template is set according to the size of the prostate hyperplasia, which basically meets the treatment needs of each size of the prostate. Taking the 4 needle plan as an example, referring to FIGS. 3-5, FIG. 3 is a schematic diagram of the needle point position in the horizontal plane image. FIG. 4 is a schematic diagram of the needle point position in the sagittal plane image. FIG. 5 is a schematic diagram of the needle point position in the transverse plane image. The treatment plan template includes the number of needle point positions and the preset parameters of each needle point position, which includes the action center position and the ablation radius, wherein the action center position is defined by the needle position parameter (Z), the needle angle parameter (θ), and the needle depth parameter (D), and the ablation radius is defined by the action range parameter (R). For the meaning of the needle position parameter Z, the needle depth parameter D, and the action range parameter R, refer to FIG. 11. For the meaning of the needle angle parameter θ, refer to the description of FIGS. 3-5. Wherein, the needle position parameter Z represents the distance of the linear motion of the vapor needle 22 along the axial direction of the sheath tube 3, the needle angle parameter θ represents the angle of the rotational motion of the vapor needle 22 in the transverse direction, the needle depth parameter D represents the distance of the needle head of the vapor needle 22 extending from the vapor needle outlet 220 in a direction substantially transverse to the axial direction, and the action range parameter R represents the vapor action range.

[0057] The combination of the needle position parameter (Z), the needle angle parameter (θ), the needle depth parameter (D), and the action range parameter (R) of the plurality of needle point positions forms a set of treatment plan templates. The pre-made treatment plan template library is a collection of multiple sets of treatment plan templates determined according to a large number of experiments.

[0058] In the preferred embodiment for ablation of prostate hyperplasia tissue, the needle point positions are arranged in a symmetrical distribution along both sides of the urethral axis, which can achieve a better resection effect. Taking the four needle plan as an example, the interval ΔZ of the needle position parameters Z of the adjacent two needles is 1.5 cm, the needle depth parameter D is set to 1.5 cm, the needle angle parameter θ is set to a symmetrical angle, for example, 4 and 8 point directions, the action range parameter is 1 cm, and the above four parameters and the addition and deletion of the needle point positions can be manually adjusted and modified by the doctor.

[0059] Specifically, referring to the horizontal plane image shown in FIG. 3, the four needle exit points are respectively the first point 11, the second point 12, the third point 13, and the fourth point 14. Each needle exit point has a corresponding action center position and an ablation radius. During treatment, the vapor needle 22 is inserted into each point according to the corresponding parameters to perform ablation. Preferably, the four needle exit points are symmetrically distributed with respect to the y-axis in FIG. 2, and the positions of the points can also be adjusted according to the treatment needs. The circles surrounding each point in the figure represent the ablation range corresponding to the vapor needle 22 at the needle exit point. Specifically, the vapor needle 22 has vapor injection holes in the circumferential direction, and when ablation, vapor is injected from each injection hole to form a generally spherical ablation region around the action center position of the vapor needle 22. Here, the radius of the circle in FIG. 3 is the ablation radius R corresponding to the needle exit point, and the ablation radius R is actually the radius of the region of the action range formed by the vapor being injected outward along the needle hole of the vapor needle 22.

[0060] On the sagittal plane image shown in FIG. 4, the first point 11 and the second point 12 are distributed in front and back, and the triangles in the figure represent the first sheath outlet 110 and the second sheath outlet 120 as the vapor needle outlet 220. Taking the first sheath outlet 110 as an example, when it needs to be inserted into the first point 11, the vapor needle 22 moves along the sheath 3 to the position of the first sheath outlet 110 in a straight line in the axial direction, and if necessary, the rotation angle of the vapor needle 22 and the vapor needle outlet 220 is determined and adjusted, which will be described in detail below. Then control the needle of the vapor needle 22 to extend out of the vapor needle outlet 220 and insert into the first point 11. Similarly, when it needs to be inserted into the second point 12, the vapor needle 22 moves along the sheath 3 to the position of the second sheath outlet 120 in a straight line in the axial direction, and then controls the needle of the vapor needle 22 to extend out of the vapor needle outlet 220 and insert into the second point 12. The third point 13 and the fourth point 14 are also distributed in front and back in the sagittal direction, and their needle exit point parameters have similar meanings, which will not be repeated here.

[0061] In this embodiment, the part of the needle of the vapor needle 22 extending out of the vapor needle outlet 220 at the front end of the sheath 3 can be bent, that is, the needle of the vapor needle 22 is inserted into the first point 11 in a manner substantially transverse to the axial direction. The size of the part of the needle of the vapor needle 22 extending out of the sheath 3 is the needle exit length L, and the needle exit length L is related to the needle depth parameter D. Generally, the needle exit length L represents the transverse distance from the needle to the vapor needle outlet 220, and the needle depth parameter D represents the transverse distance from the action center position of the needle hole near the needle to the vapor needle outlet 220. For the same vapor ablation needle, the relationship between D and L is determined, so D or L can be used as a parameter to characterize the transverse extension movement of the needle of the vapor needle. The rectangular frame surrounding each point in the figure corresponds to the projection of the ablation range in the sagittal plane.

[0062] On the cross-sectional image shown in FIG. 5, the dashed line shows the vertical line OC which is parallel to the Z axis, and the triangle at point O corresponds to the first sheath outlet 110. The first point 11 and the third point 13 are respectively located on both sides of the vertical line OC, and are arranged at a predetermined angle with the vertical line OC, which is the rotation angle θ of the vapor needle 22 with the axis of the sheath 3 as the central axis. The vapor needle 22 is inserted to the position of the first sheath outlet 110 together with the sheath 3, and is rotated to the side of the first point 11, and the needle head extends from the vapor needle outlet 220 to be inserted into the first point 11; further, the vapor needle is rotated to the side of the third point 13, and the needle head extends from the vapor needle outlet 220 to be inserted into the third point 13.

[0063] On the cross-sectional image, the principle of inserting the vapor needle 22 into the second point 12 and the fourth point 14 is similar to the above, the vapor needle 22 is axially advanced along the sheath 3 to the position of the second sheath outlet 120, and is rotated to the side of the second point 12, and the needle head extends from the vapor needle outlet 220 to be inserted into the second point 12; further, the vapor needle is rotated to the side of the fourth point 14, and the needle head extends from the vapor needle outlet 220 to be inserted into the fourth point 14, which will not be repeated here.

[0064] As described above, each needle point of the vapor needle 22 has at least four key parameters, including the needle position Z, the needle depth D or the needle length L, the action range R, and the needle angle θ, which are used to achieve ablation operations on different parts, and these parameters can be pre-set in the treatment plan template. In the treatment plan template library, each treatment plan template contains the number of needle points and the corresponding preset parameters, based on which the total ablation volume of each treatment plan template can be estimated, and each treatment plan template can be classified for storage and calling.

[0065] As described above, and with reference to FIGS. 3-5, for two-dimensional images in different directions, based on the contour information of the target region 4 in the initial image, a suitable treatment plan template can be selected from the treatment plan template library for matching.

[0066] Further, in combination with FIG. 3, the contour of the target region 4 in the horizontal plane image can be segmented by manual or image algorithm, and the doctor can adjust the needle position Z and the ablation radius R of the given template based on the contour of the target region 4. Further, in combination with FIG. 4, the contour of the target region 4 in the sagittal plane image can be segmented by manual or image algorithm, and the doctor can adjust the needle position Z, the needle depth D or the needle length L, and the action range R of the given template based on the contour of the target region 4. Further, in combination with FIG. 5, the contour of the target region 4 in the cross-sectional image can be segmented by manual or image algorithm, and the doctor can adjust the needle depth D or the needle length L, the action range R, and the needle angle θ of the given template based on the contour of the target region 4.

[0067] Preferably, the planning selection or scheme adjustment can be performed by a combination of sagittal plane images, cross-sectional images, or a combination of horizontal plane images, cross-sectional images, or a combination of sagittal plane images, cross-sectional images, and horizontal plane images to enhance the scientificity of the planning. The template selection can also be performed in the three-dimensional image after three-dimensional reconstruction, and the number of treatment points of a given template, i.e., the number of needle point positions, needle position Z, needle angle θ, needle length L or needle depth D, action range R, etc. Parameters are manually adjusted and confirmed, and after adjustment, they are used as preset parameters corresponding to each needle point position, and then an image planning trajectory of the treatment plan can be generated.

[0068] Further, not only based on preoperative images, but also in preferred embodiments, the target prostate tissue hyperplasia grade can be obtained according to the patient's age, prostate volume, IPSS score table, etc. For example, the grade can be mild, moderate, or severe, and a treatment plan and a schematic diagram are generated according to the grade. The schematic diagram includes target region 4 outline schematic, treatment point, etc. For example, if the hyperplasia grade is judged to be mild, 4 treatment points are generated, 6 treatment points are generated for moderate, and 8 treatment points are generated for severe. The default needle angle θ is the angle corresponding to the 4 o'clock and 8 o'clock directions on the cross section symmetrically distributed with respect to the vertical OC. The default needle length L is 8 mm for mild, the ablation radius is 1.5 cm, the needle length L is 10 mm for moderate, the ablation radius is 1.8 cm, the needle length L is 15 mm for severe, and the ablation radius (or action range) is 2 cm. The generated schematic diagram can be only a sagittal plane image or other cross-sectional image. For example, in the sagittal plane, the target outline schematic generated on this cross section is an ellipse with a long axis of 3 cm and a short axis of 1 cm for mild, an ellipse with a long axis of 3.6 cm and a short axis of 2 cm for moderate, and an ellipse with a long axis of 4 cm and a short axis of 3 cm for severe. The above parameters are only examples and can be adjusted according to requirements without specific limitations.

[0069] Next, the vapor needle image registration step S2 will be described in detail with reference to FIG. 6. FIG. 6 is a schematic diagram of a virtual needle 21 and a vapor needle 22 in a sagittal plane image.

[0070] Referring to FIG. 6, a virtual needle 21 is generated, and a corresponding virtual needle image is obtained, which is displayed superimposed in the initial image. After the vapor needle 22 is inserted into the target region 4, a real-time image of the target region 4 and a vapor needle image corresponding to the vapor needle 22 are obtained. In this embodiment, the real-time image is an ultrasound image. After the vapor needle is inserted into the target region 4, the real-time image of the target region 4 contains not only real-time image information of the target region 4, but also real-time image information of the vapor needle 22.

[0071] Taking the sagittal plane ultrasound image as an example, the most distal point of the insertion direction of the vapor needle 22, i.e. the most front point in the sagittal plane image, is taken as the execution origin of the vapor needle 22, and the spatial position coordinates of the start point and the end point of the virtual needle 21 on the image can be fitted according to the coordinates of the treatment points. Through an optimization algorithm such as a genetic algorithm, the position of the virtual needle 21 in the image can be obtained.

[0072] Preferably, the virtual needle 21 is inserted horizontally into the target region 4 along the Y-axis direction from the back side of the direction shown in the image, and the intersection range of the ablation range of the treatment points that can be generated by the virtual needle 21 and the planned ablation range of the treatment points adjusted by the doctor is maximized. In actual operation, a range threshold can be preset, and when the intersection range exceeds the range threshold, it is considered that the virtual needle 21 meets the requirements. For example, the ablation range of each treatment point is an approximate sphere, and when fitting the virtual needle 21, the intersection range of the spheres of the ablation ranges of the four treatment points that can be generated by the virtual needle 21 and the spheres of the planned ablation ranges of the four treatment points adjusted by the doctor is greater than the range threshold. In other words, the virtual needle that maximizes the intersection range of the ablation range of the treatment points that can be generated by the virtual needle and the planned ablation range of the treatment points adjusted by the doctor is used as the virtual needle 21 in this application. In the scheme of setting the range threshold as a reference for fitting the virtual needle, the intersection area of the virtual ablation range of the virtual needle and the planned ablation range is as large as possible.

[0073] Taking the prostate as an example, when obtaining the real-time image thereof, the sheath tube 3 containing the vapor needle 22 can be observed to be inserted to the bladder neck position through an endoscope, the sheath tube axis and the ultrasound axis are adjusted to be in the same plane and as parallel as possible, the vapor needle outlet 220 is positioned vertically downward as the initial position, the Z-axis of the spatial physical coordinate system in which the sheath tube 3 is located is aligned with the perpendicular OC in the transverse plane, so that the real-time ultrasound sagittal plane image containing the vapor needle 22 can be obtained. By first adjusting the vapor needle to a position approximately parallel to the sagittal plane, the control accuracy can be further improved.

[0074] When the vapor needle 22 is inserted, the angle between the vapor needle 22 and the sagittal plane Y should be as small as possible, i.e. less than a preset angle threshold. When the angle is zero, the vapor needle 22 is completely coincident with the sagittal plane, but in actual operation, the angle between the two is inevitable. When observed on the real-time image, the area near the intersection of the vapor needle 22 and the sagittal plane is relatively highlighted because the two overlap more; the farther away from the two ends of the vapor needle 22, the weaker the brightness, because the overlap is less, so the size of the angle between the vapor needle 22 and the sagittal plane can be observed and adjusted according to the gradient of the preset setting, which is that the highlighted area of the vapor needle image in the real-time image gradually darkens towards the two ends of the vapor needle image. If the highlighted area in the Y direction is long, it means that the vapor needle 22 overlaps the sagittal plane more, and the angle between the two is relatively small; on the contrary, it means that the vapor needle 22 overlaps the sagittal plane less, or even only a highlighted point, which means that the angle between the two is relatively large. Through the above method, the vapor needle can be conveniently adjusted to a position approximately parallel to the sagittal plane.

[0075] In the case where the angle between the vapor needle 22 and the sagittal plane Y is less than the preset angle threshold, the image registration step is performed.

[0076] In an embodiment, after obtaining the real-time image of the prostate, the target area 4 is segmented by manual or image algorithm, and the initial image registration is performed. Exemplarily, after the real-time image is registered with the initial image, the angle and the scaling scale of the mutual registration of the two can be adjusted, so that the outlines of the prostate in the two images are substantially aligned, and a first conversion matrix T1 of the pixel distance between the initial image coordinate system and the real-time image coordinate system is obtained, i.e. after the registration is completed, the pixel distance in the initial image can be converted to the pixel distance in the real-time image in the operation, and then through the second conversion matrix T2 between the real-time image coordinate system and the physical space coordinate system, the distance in the physical world corresponding to the pixel distance in the initial image can be obtained.

[0077] After the outlines of the prostate in the two images are aligned, there will inevitably be a deviation between the vapor needle 22 and the virtual needle 21, so the position and / or posture of the vapor needle 22 as a real object in the urethra need to be adjusted, so that the vapor needle image in the real-time image coincides with the virtual needle image in the initial image, i.e. the registration of the vapor needle 22 and the virtual needle 21 is achieved.

[0078] After the registration is completed, further, step S3, i.e. the parameter determination step, is performed to establish a mapping relationship between the movement distance of the vapor needle image in the real-time image and the movement distance of the virtual needle image in the initial image; at least based on the mapping relationship, the preset parameter of the needle point position is converted into the execution parameter of the vapor needle.

[0079] Firstly, a mapping relationship between the moving distance of the vapor needle image in the real-time image and the moving distance of the virtual needle image in the initial image is established. As an embodiment, the two are moved in the same direction by the same pixel distance in the real-time image and the initial image respectively, and the scaling coefficient g is obtained according to the positional deviation of the two.

[0080] Still taking the prostate as the target area 4, after the vapor needle 22 and the virtual needle 21 are registered, the insertion end of the vapor needle 22 and the vapor needle outlet of the virtual needle 21 are located at the position corresponding to the first point 11, and the Y-axis coordinate at this position is W1. The vapor needle 22 is moved forward to the vicinity of the bladder neck or in the bladder, and the vapor needle outlet image 220' of the insertion end of the vapor needle 22 in the real-time image is marked, and the Y-axis coordinate at this position is W0. At this time, the pixel distance d1 moved by the vapor needle 22 in the real-time image is W1-W0. Then, the virtual needle 21 is controlled by software to move forward by the same distance d1 in the initial image, and whether the vapor needle 22 and the virtual needle 21 coincide at this time is observed. If they coincide, it is considered that the registration is completed. If the deviation is large, for example, greater than a certain threshold, the vapor outlet position W0' of the insertion end of the virtual needle 21 in the initial image needs to be marked again, and the scaling coefficient g=(W1-W0) / (W1-W0') of the distance is obtained. When the physical position of the vapor needle 22 moves subsequently, the scaling coefficient g needs to be considered. After this step, the vapor needle outlet image 220' of the vapor needle 22 stays at the position of the bladder neck.

[0081] Then, at least based on the aforementioned mapping relationship, i.e., the scaling coefficient g, the aforementioned preset parameters including the needle exit position Z, the needle exit angle θ, the needle exit length L or the needle exit depth D, and the action range R are converted into execution parameters of the physical space of the vapor needle 22 to control the vapor needle 22 to perform the ablation work.

[0082] The space physical coordinate system in which the execution mechanism containing the vapor needle 22 is located is set as the X'Y'Z' coordinate system, wherein the X' axis, the Y' axis and the Z' axis are parallel to the aforementioned X axis, Y axis and Z axis. The execution needle exit position W_base is the straight-line physical position of the vapor needle 22 in the sheath tube 3, the execution rotation angle θ_base is the rotation angle of the vapor needle 22 in the sheath tube 3, the execution needle exit length L_base is the physical distance of the vapor needle 22 extending out of the sheath tube 3, and the execution ablation radius R_base is the action range after the vapor is sprayed. The execution mechanism controls various movements of the vapor needle in the space physical coordinate system X'Y'Z' coordinate system thereof according to the execution parameters.

[0083] Referring to FIG. 6, the Y-axis coordinate corresponding to the first point 11 is W1. On the sagittal plane initial image, the end position W3 of the virtual needle 21 at the urethral orifice bladder neck is taken as the origin, and the pixel distance W1-W3 is the distance that the virtual needle 21 moves to the W1 position, that is, the linear physical position W_base=T2*|W1-W3|*g of the virtual needle 21 in the sheath 3 corresponding to the first treatment point 11, g is a scaling factor.

[0084] FIG. 7 is a schematic diagram of a rotation angle that can be seen in a transverse plane image. Referring to FIG. 7, the ultrasound stepper moves to the W1 and W2 positions, and registration is achieved at each transverse plane. By a known calibration relationship, the vapor outlet is automatically / manually marked on the transverse plane image, and θ1 is the preset rotation angle of the vapor needle 22 corresponding to the first needle exit point 11, and the actual execution rotation angle is θ_base=θ1. The execution needle exit length of the needle exit point is L_base=T2*L*gL, and the execution ablation radius is R_base=T2*R*gR, where L and R are the preset needle exit length and the preset action range, gL is the execution needle exit length coefficient, the numerator is the pixel distance after the execution needle exit length in the planning image, and the denominator is the pixel distance after adjusting the needle exit length in the planning image. gR is the ablation radius coefficient, the numerator is the pixel distance of the ablation radius in the planning image, and the denominator is the pixel distance after adjusting the ablation radius in the planning image.

[0085] The application also provides a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method of any of the embodiments of the application.

[0086] In order to implement the method of the foregoing embodiments of the application, the application further provides an execution parameter determination device for a vapor needle, characterized in that it comprises the following modules: a needle exit point preset module, configured to acquire an initial image of a target region 4, determine the number of needle exit points based on the initial image, and determine preset parameters of each needle exit point, the preset parameters of each needle exit point including an action center position and an ablation radius; a vapor needle image registration module, configured to acquire a virtual needle image of the vapor needle, and superimpose and display the virtual needle image in the initial image; acquire a real-time image of the target region 4, the real-time image containing image information of the vapor needle located in the target region 4; register the real-time image with the initial image; a parameter determination module, configured to establish a mapping relationship between the movement distance of the vapor needle image in the real-time image and the movement distance of the virtual needle image in the initial image; and convert the preset parameters of the needle exit points into execution parameters of the vapor needle based on at least the mapping relationship. The above modules are functional architecture modules and can be implemented by computer software.

[0087] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks or in the flowchart one or more blocks.

[0088] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks or in the flowchart one or more blocks.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks or in the flowchart one or more blocks.

[0090] Further, the application also provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable by the processor, and the processor implements the method according to any one of the embodiments of the application when executing the computer program. In a typical configuration, the electronic device includes one or more processors (CPU), input / output interface, network interface, and memory. The memory can include non-persistent memory, random access memory (RAM), and / or non-volatile memory, such as read only memory (ROM) or flash memory (flash RAM), in the form of a computer readable medium. The memory is an example of computer readable media.

[0091] The storage device, as a computer readable storage medium, can be used to store software programs, computer executable programs and module units, such as program instructions corresponding to the method in the embodiments of the present application. The storage device can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the terminal and the like. In addition, the storage device can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the storage device can further include a memory remotely arranged with respect to the processor 620, and these remote memories can be connected through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0092] To sum up, the vapor ablation system provided in the present application directly heats the target area 4 by using high-temperature water vapor as a heat source, which can ensure that the tissue is watered during the operation and dehydration and carbonization do not occur, and the execution parameter determination method and / or device of the vapor needle provided in the present application can realize accurate control of the temperature of the vapor. Further, the method and device provided in the present application do not rely on complex navigation mechanisms such as optical magnetic navigation multi-axis mechanical arms and the calibration process, but use a treatment scheme template type rapid calibration method to reduce the use cost of the equipment, quickly calibrate the preoperative planning and intraoperative treatment execution action, and rely on the doctor to hold the instrument to complete the whole process during the operation, so that the whole operation process is faster, more portable and flexible. In addition, through the preoperative or intraoperative rapid calibration on the image planning module, the present application can also realize visual auxiliary operation, so that after the doctor inserts the vapor needle, the subsequent ablation work at each treatment point in the operation process is automatically executed, and the accurate control of the needle extraction position parameter, the needle extraction angle parameter, the needle extraction depth parameter and the action range parameter can be realized, the accuracy of treatment is improved, and the operation time of the doctor for adjusting the position, angle and the like is greatly shortened, so that the vapor ablation operation is safe and controllable.

[0093] It should be understood that the specific embodiments described above are only used to explain the present application, and the protection scope of the present application is not limited thereto, and any person skilled in the art can make changes, substitutions and combinations within the technical scope disclosed in the present application according to the technical solution and application concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A method for determining the execution parameters of a steam needle, characterized in that, The method comprises the following steps: S1: determining the number of needle point positions and the preset parameters of each needle point position, obtaining an initial image of a target region, determining the number of needle point positions based on the initial image, and determining the preset parameters of each needle point position, wherein the preset parameters of each needle point position include a center position parameter and an ablation radius; wherein the initial image is a preoperative image corresponding to the target region; S2: steam needle image registration step, obtaining a virtual needle image of the steam needle, and superimposing and displaying the virtual needle image in the initial image; obtaining a real-time image of the target region, wherein the real-time image includes a steam needle image corresponding to the steam needle in the target region; registering the real-time image with the initial image; wherein the virtual needle image is generated by fitting; S3: steam needle execution parameter determination step, establishing a mapping relationship between the movement distance of the steam needle image in the real-time image and the movement distance of the virtual needle image in the initial image; converting the preset parameters of the needle point position into the execution parameters of the physical space of the steam needle based at least on the mapping relationship; wherein the steam needle can be inserted into the needle point position along the axial direction according to the execution parameters.

2. The execution parameter determination method for the steam needle according to claim 1, wherein: the center position parameter determined in the step of determining the number of needle point positions and the preset parameters of each needle point position includes a preset needle position, a preset needle angle, and a preset needle length of the steam needle; and the ablation radius is a preset steam action range.

3. The execution parameter determination method for the steam needle according to claim 2, wherein: the preset needle position is the position of the needle point position in the axial direction, the preset needle length is the length of the needle head of the steam needle extending transversely to the axis, and the preset needle angle is the included angle between the needle direction of the steam needle and the axial direction.

4. The execution parameter determination method for the steam needle according to claim 1, wherein: in the steam needle image registration step, the intersection area of the virtual ablation range corresponding to the virtual needle image and the planned ablation range corresponding to the preset parameters is greater than a preset range threshold.

5. The execution parameter determination method for the steam needle according to claim 2, wherein: the real-time image is a sagittal plane image of the target region; in the case where the included angle between the steam needle and the sagittal plane is less than a preset angle threshold, the steam needle image registration step is performed.

6. The execution parameter determination method for the steam needle according to claim 5, wherein: the size of the included angle between the steam needle and the sagittal plane is observed and adjusted according to a gradient setting in the real-time image, wherein the highlighted area of the steam needle image is gradually darkened towards both ends of the steam needle image.

7. An execution parameter determination apparatus for a vapor needle, characterized by, The method comprises the following modules: A determination module of a preset number of needle point positions and preset parameters of each needle point position is configured to acquire an initial image of a target region, determine a number of needle point positions based on the initial image, and determine preset parameters of each needle point position, the preset parameters of each needle point position including an action center position parameter and an ablation radius; wherein the initial image is a preoperative image corresponding to the target region; A vapor needle image registration module is configured to acquire a virtual needle image of the vapor needle and superimpose the virtual needle image in the initial image for display, acquire a real-time image of the target region, the real-time image including a vapor needle image corresponding to the vapor needle in the target region, and register the real-time image with the initial image; wherein the virtual needle image is generated by fitting. A vapor needle execution parameter determination module is configured to establish a mapping relationship between a moving distance of the vapor needle image in the real-time image and a moving distance of the virtual needle image in the initial image, and convert the preset parameters of the needle point positions into execution parameters of a physical space of the vapor needle based at least on the mapping relationship; wherein the vapor needle can be inserted into the needle point position along an axial direction according to the execution parameters.

8. The execution parameter determination device for a vapor needle according to claim 7, wherein: the action center position parameter determined in the determination module of a preset number of needle point positions and preset parameters of each needle point position includes a preset needle position of the vapor needle, a preset needle angle, and a preset needle length; and the ablation radius is a preset vapor action range.

9. The execution parameter determination device for a vapor needle according to claim 8, wherein: the preset needle position is a position of the needle point position in an axial direction, the preset needle length is a length of a needle head of the vapor needle extending transversely to the axis, and the preset needle angle is an included angle between a needle direction of the vapor needle and the axial direction.

10. The execution parameter determination device for a vapor needle according to claim 8, wherein: establishing the mapping relationship via the vapor needle execution parameter determination module includes: when the vapor needle image and the virtual needle image move in the same direction by the same pixel distance in the real-time image and the initial image respectively, a scaling coefficient is acquired according to a position deviation of the two.

11. The execution parameter determination device for a vapor needle according to claim 10, wherein: the execution parameters of the vapor needle include an execution needle position, an execution angle, an execution needle length, and an execution ablation radius, wherein the execution angle is determined based on the preset needle angle, and the execution needle position, the execution needle length, and the execution ablation radius are determined based on the preset needle position, the preset needle length, the ablation radius, and the scaling coefficient respectively.

12. The execution parameter determination device for a vapor needle according to claim 7, wherein: When image registration is performed via the vapor needle image registration module, the real-time image is first registered with the initial image, and then the vapor needle image in the real-time image is registered with the virtual needle image in the initial image.

13. The execution parameter determination device for a vapor needle according to claim 7, wherein: When image registration is performed via the vapor needle image registration module, the intersection area between the virtual ablation range corresponding to the virtual needle image and the planned ablation range corresponding to the preset parameter is greater than a preset range threshold.

14. The execution parameter determination device for a vapor needle according to claim 8, wherein: The real-time image is a sagittal plane image of the target region. When the included angle between the vapor needle and the sagittal plane is less than a preset angle threshold, image registration is performed via the vapor needle image registration module.

15. The execution parameter determination device for a vapor needle according to claim 14, wherein: The size of the included angle between the vapor needle and the sagittal plane is observed and adjusted according to a preset gradient setting in the real-time image, in which the highlight region of the vapor needle image gradually darkens towards both ends of the vapor needle image.

16. A vapor ablation system, comprising: Comprise: An imaging unit for providing a real-time image of a target region; A vapor needle slidably arranged in a sheath, capable of being inserted into a predetermined cavity together with the sheath, and extending out of the insertion end of the sheath to the target region; A control unit for determining the execution parameter of the vapor needle according to the execution parameter determination method for a vapor needle as claimed in any one of claims 1-6, or via the execution parameter determination device for a vapor needle as claimed in any one of claims 7-15, and controlling the vapor needle to perform ablation work.

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