Built-in vision steam ablation handle, steam ablation system, and image processing method therefor

Abstract

The present application relates to the technical field of steam ablation and particularly to a built-in vision steam ablation handle, a steam ablation system, and an image processing method therefor. The built-in vision steam ablation handle comprises a puncture joint, a steam needle, and an image acquisition device. The puncture joint is provided with a first mounting hole and a second mounting hole. The steam needle penetrates through the first mounting hole. The image acquisition device is arranged in the second mounting hole. The shooting direction of the image acquisition device is at an angle of 55°-65° relative to the direction in which the steam needle exits the first mounting hole. In the present application, the image acquisition device is integrated with the puncture joint and is as close as possible to the needle exit area of the steam needle, so that the image acquisition device can be aligned with the movement direction of the steam needle at any time. Moreover, the shooting direction of the image acquisition device is designed to be conducive to improving the accuracy of the image acquisition device in acquiring images of the steam needle exiting and to providing a maximized field-of-view observation window through which a steam ablation therapy process is observed in real time.

Description

Built-in visual steam ablation handle, steam ablation system and its image processing method

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 2024109682654, filed on July 18, 2024, entitled "Built-in Visual Steam Ablation Handle, Steam Ablation System and Image Processing Method Thereof", which is incorporated herein by reference in its entirety. Technical Field

[0003] This application relates to the field of steam ablation technology, and in particular to a built-in vision steam ablation handle, a steam ablation system, and an image processing method for the steam ablation system. Background Technology

[0004] Traditional minimally invasive treatments for benign prostatic hyperplasia (BPH) include microwave therapy, puncture ablation, and steam therapy. These techniques require only local anesthesia, are easy to perform, cause minimal trauma, have minimal intraoperative bleeding, and allow for rapid postoperative recovery. Among these, steam therapy, with its numerous advantages such as safety, effectiveness, minimal trauma, and ease of operation, is gradually gaining popularity.

[0005] Current steam ablation systems typically require the use of a 30° viewing angle cystoscope system, which presents several inconveniences. These include compatibility issues between the steam ablation system and the endoscope system, requiring surgical staff to monitor both systems simultaneously, which distracts them and increases medical risks. Even the imaging devices integrated into the steam ablation system can have poor imaging angles and ranges, affecting surgical procedures. Summary of the Invention

[0006] This application provides a built-in visual steam ablation handle, a steam ablation system, and an image processing method for the steam ablation system to address one of the shortcomings of traditional technologies. By integrating the image acquisition device onto the puncture connector of the operating device, it is equivalent to combining it with the steam needle, maximizing proximity to the needle's exit area and ensuring consistency with the needle's movement at all times. Furthermore, the design of the image acquisition device's shooting direction improves the accuracy of capturing images of the steam needle's exit, thereby enhancing the guidance effect on the position and movement of the steam needle during the steam ablation process.

[0007] This application provides a built-in visual vapor ablation handle, including:

[0008] A puncture connector, wherein the puncture connector is provided with a first mounting hole and a second mounting hole;

[0009] A steam needle, wherein the steam needle is inserted through the first mounting hole;

[0010] An image acquisition device is disposed in the second mounting hole;

[0011] The angle between the shooting direction of the image acquisition device and the exit direction of the steam needle from the first mounting hole is 55° to 65°.

[0012] According to the present application, a built-in visual vapor ablation handle further includes at least two light sources, which are disposed in the second mounting hole, and a plurality of light sources are arranged around the outside of the image acquisition device and evenly distributed, wherein the light sources are LED lights with adjustable brightness.

[0013] According to the present application, a built-in visual steam ablation handle further includes a conduit component. The conduit component includes an outer tube, a steam tube, and a cable conduit. The steam tube and the cable conduit are both inserted inside the outer tube. The outer tube is connected to the puncture connector. The steam tube communicates with the first mounting hole to form an extension channel for the steam needle. The cable conduit communicates with the second mounting hole to form an extension channel for the cable, so that the cable can be connected to the image acquisition device. The conduit component also includes a water tube inserted inside the outer tube. The puncture connector is also provided with a water passage hole, and the water tube communicates with the water passage hole.

[0014] According to the present application, a built-in visual steam ablation handle is provided, wherein the water pipe includes a drain pipe and a flushing pipe, the water passage includes a drain hole and a flushing hole, the drain pipe is connected to the drain hole, and the flushing pipe is connected to the flushing hole.

[0015] According to the built-in visual steam ablation handle provided in this application, the conduit component further includes a support block disposed inside the outer tube. The support block has a first groove and at least one second groove. The conduit is disposed in the first groove, the water pipe is disposed in the second groove, and the steam pipe abuts against the inner wall of the outer tube.

[0016] According to the built-in visual steam ablation handle provided in this application, the steam pipe is provided with a first seal at the end communicating with the first mounting hole, the water pipe is provided with a second seal at the end communicating with the water passage hole, and the second mounting hole is provided with a third seal at the position where the cable is connected to the image acquisition device.

[0017] According to the built-in visual vapor ablation handle provided in this application, it also includes:

[0018] The handle body has an internal cavity, the outer tube is connected to the handle body, the steam pipe communicates with the cavity, and the steam needle passes through the cavity into the steam pipe.

[0019] A needle control component is disposed in the cavity and connected to the steam needle. The needle control component is adapted to switch between a first state and a second state. In the first state, the steam needle extends, and in the second state, the steam needle retracts.

[0020] The needle control component includes:

[0021] Sleeve;

[0022] A first stator and a second stator are disposed on the outer side of the sleeve along the axial direction of the sleeve;

[0023] A rotor, the rotor being disposed on the slider;

[0024] The slider has a sleeve fitted around its outer side. The slider has a through hole along the axial direction of the sleeve inside. The steam needle passes through the through hole and is connected to the slider. The slider is adapted to switch between a first position and a second position. In the first position, the first stator is energized and the second stator is de-energized, and the needle control component is in the first state. In the second position, the first stator is de-energized and the second stator is energized, and the needle control component is in the second state.

[0025] This application also provides a steam ablation system, comprising:

[0026] The built-in visual vapor ablation handle is described above;

[0027] The controller is connected to all the image acquisition devices. The controller is adapted to receive the images acquired by the image acquisition devices and analyze and process the images to obtain analysis results.

[0028] A display, connected to the controller, adapted to display the analysis results sent by the controller.

[0029] This application also provides an image processing method for a steam ablation system, applied to the steam ablation system described above, comprising:

[0030] Acquire live images of the steam needle;

[0031] The main image of the steam needle is obtained by performing a first image preprocessing on the real-time image of the steam needle;

[0032] The needle exit image of the steam needle is obtained based on the main image of the steam needle;

[0033] Based on the needle exit image of the steam needle, the position and size of the marked point of the steam needle are obtained.

[0034] According to the image processing method for a steam ablation system provided in this application, obtaining the needle exit image of the steam needle based on the main image of the steam needle includes:

[0035] Based on the main image of the steam needle, the needle extension area of ​​the steam needle is determined;

[0036] Based on the needle extension area of ​​the steam needle, a second image preprocessing is performed on the main image of the steam needle to obtain the needle extension image of the steam needle.

[0037] According to the image processing method for a steam ablation system provided in this application, the step of performing a first image preprocessing on the real-time image of the steam needle to obtain the main image of the steam needle includes:

[0038] The live image of the steam needle is denoised and enhanced, and then processed with a first threshold color level to obtain a first preprocessed image, wherein the first threshold color level is between 170 and 230.

[0039] Edge detection and contour extraction are performed on the first preprocessed image to obtain the main image of the steam needle.

[0040] According to the image processing method for a steam ablation system provided in this application, the step of performing a second image preprocessing on the main image of the steam needle to obtain the needle exit image of the steam needle includes:

[0041] The main image of the steam needle is processed with a second threshold color level to obtain a second preprocessed image, where the second threshold color level is between 140 and 160.

[0042] The second preprocessed image is subjected to color space conversion and threshold segmentation to obtain the needle exit image of the steam needle.

[0043] This application also provides a built-in visual vapor ablation handle, including:

[0044] A puncture connector, wherein the puncture connector is provided with a first mounting hole and a second mounting hole;

[0045] A steam needle, wherein the steam needle is inserted through the first mounting hole;

[0046] An image acquisition device is disposed in the second mounting hole;

[0047] The angle between the shooting direction of the image acquisition device and the exit direction of the steam needle from the first mounting hole is 55° to 75°.

[0048] According to the present application, a built-in visual vapor ablation handle is provided, wherein the included angle is 70°.

[0049] The steam ablation system provided in this application mainly consists of a puncture connector, a steam needle, and an image acquisition device. The puncture connector is provided with a first mounting hole and a second mounting hole. The steam needle is inserted through the first mounting hole and can exit through the first mounting hole to puncture the affected area. The image acquisition device is set in the second mounting hole and can capture images of the area where the steam needle exits.

[0050] The area directly opposite the first mounting hole is the exit area of ​​the steam needle. The shooting direction of the image acquisition device is the direction in which the center line of the image acquisition device extends outward from the image acquisition device. Keeping the shooting direction of the image acquisition device within an angle α of 55° to 65° with the exit direction of the steam needle can effectively ensure that the shooting range of the image acquisition device is accurately oriented towards the exit area of ​​the steam needle and completely covers the exit area of ​​the steam needle, thereby accurately and comprehensively obtaining the exit image of the steam needle.

[0051] This application integrates the image acquisition device onto the puncture connector, essentially combining it with the steam needle. This allows for maximum proximity to the needle's exit area, ensuring consistency with the needle's movement at all times. Furthermore, the image acquisition device's shooting direction is designed to improve the accuracy of capturing images of the steam needle's exit and to provide a maximum field of view for observing real-time events during steam ablation treatment. This enhances the guidance of the steam needle's position and movement during the steam ablation process.

[0052] Compared to traditional steam ablation systems that require a 30° viewing angle cystoscope system, this application integrates an image acquisition device into the steam ablation system, which avoids compatibility issues between the steam ablation system and the endoscope system. During surgery, medical staff no longer need to monitor the endoscope system and the steam ablation system simultaneously, thus avoiding distraction and increasing medical risks. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 is a schematic diagram of the steam ablation system provided in an embodiment of this application.

[0055] Figure 2 is a schematic diagram of the operating device of the steam ablation system provided in the embodiment of this application.

[0056] Figure 3 is a schematic diagram of the operating device of the steam ablation system provided in the embodiment of this application at the steam needle outlet;

[0057] Figure 4 is a schematic diagram of the operating device of the steam ablation system provided in the embodiment of this application during the retraction of the steam needle.

[0058] Figure 5 is a schematic diagram of the structure of part A in Figure 3;

[0059] Figure 6 is a schematic diagram of the structure of part B in Figure 4;

[0060] Figure 7 is one of the structural schematic diagrams of the puncture joint of the steam ablation system provided in the embodiments of this application;

[0061] Figure 8 is a second schematic diagram of the puncture connector of the steam ablation system provided in the embodiments of this application;

[0062] Figure 9 is a schematic diagram of the puncture connector of the steam ablation system provided in the embodiment of this application (only one part);

[0063] Figure 10 is a schematic diagram of the control needle component of the steam ablation system provided in an embodiment of this application;

[0064] Figure 11 is a schematic flowchart of the image processing method for the steam ablation system provided in an embodiment of this application;

[0065] Figure 12 is a main image of the steam needle in the image processing method of the steam ablation system provided in the embodiment of this application;

[0066] Figure 13 shows the needle extension area of ​​the steam needle in the image processing method of the steam ablation system provided in the embodiment of this application;

[0067] Figure 14 is one of the steam needle exit images of the image processing method of the steam ablation system provided in the embodiments of this application;

[0068] Figure 15 is a second image of the steam needle exiting the image processing method of the steam ablation system provided in the embodiment of this application;

[0069] Figure 16 is a schematic diagram of the structure of the electronic device provided in an embodiment of this application.

[0070] Reference numerals: 110, piercing connector; 111, first mounting hole; 112, second mounting hole; 113, drain hole; 114, flushing hole; 115, third seal; 120, conduit assembly; 121, outer tube; 122, steam pipe; 123, conduit; 124, drain pipe; 125, flushing pipe; 126, support block; 127, first seal; 128, second seal; 1261, first groove; 1262, second groove; 1263, protrusion; 130, handle body; 131, cavity; 132, fixing pin; 13 3. Needle retraction button; 134. Button PCBA; 1351. Front shell; 1352. Upper shell; 1353. Middle shell; 1354. Rear shell; 1355. Decorative cover; 1356. Bottom shell; 136. Needle exit button; 137. Flushing button; 138. Steam button; 140. Needle control component; 141. Sleeve; 142. First stator; 143. Second stator; 144. Rotor; 145. Slider; 1451. Through hole; 210. Steam needle; 220. Steam generating component; 310. Image acquisition unit; 320. Light source; 330. Display; 340. Controller; 500. Wastewater pipe; 600. Saline pipe; 700. Cable; 800. Steam ablation communication line; 810. Processor; 820. Communication interface; 830. Memory; 840. Communication bus. Detailed Implementation

[0071] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0072] As shown in Figures 1 to 6, the built-in visual steam ablation handle provided in this application embodiment includes a puncture connector 110, a steam needle 210, and an image acquisition device 310. The puncture connector 110 is provided with a first mounting hole 111 and a second mounting hole 112. The steam needle 210 passes through the first mounting hole 111, and the image acquisition device 310 is disposed in the second mounting hole 112. The angle α between the shooting direction of the image acquisition device 310 and the needle exit direction of the steam needle 210 from the first mounting hole 111 is 55° to 65°.

[0073] The steam ablation system of this application embodiment mainly consists of a puncture connector 110, a steam needle 210, and an image acquisition device 310. The puncture connector 110 is provided with a first mounting hole 111 and a second mounting hole 112. The steam needle 210 is inserted through the first mounting hole 111 and can be inserted into the affected area through the first mounting hole 111. The image acquisition device 310 is set in the second mounting hole 112 and can capture images of the area where the steam needle 210 exits.

[0074] The area directly opposite the first mounting hole 111 is the needle exit area of ​​the steam needle 210. The shooting direction of the image acquisition device 310 is the direction in which the center line of the shooting range of the image acquisition device 310 extends outward from the image acquisition device 310. By keeping the shooting direction of the image acquisition device 310 within an angle α of 55° to 65° with the needle exit direction of the steam needle 210, it can be effectively ensured that the shooting range of the image acquisition device 310 can accurately face the needle exit area of ​​the steam needle 210 and completely cover the needle exit area of ​​the steam needle 210, thereby accurately and comprehensively obtaining the needle exit image of the steam needle 210.

[0075] As shown in Figures 1 to 6, another built-in visual steam ablation handle provided in this application includes a puncture connector 110, a steam needle 210, and an image acquisition device 310. The puncture connector 110 is provided with a first mounting hole 111 and a second mounting hole 112. The steam needle 210 passes through the first mounting hole 111, and the image acquisition device 310 is disposed in the second mounting hole 112. The angle α between the shooting direction of the image acquisition device 310 and the needle exit direction of the steam needle 210 from the first mounting hole 111 is 55° to 75°.

[0076] In some implementations, the included angle α is 70°.

[0077] The steam ablation system of this application embodiment mainly consists of a puncture connector 110, a steam needle 210, and an image acquisition device 310. The puncture connector 110 is provided with a first mounting hole 111 and a second mounting hole 112. The steam needle 210 is inserted through the first mounting hole 111 and can be inserted into the affected area through the first mounting hole 111. The image acquisition device 310 is set in the second mounting hole 112 and can capture images of the area where the steam needle 210 exits.

[0078] The area directly opposite the first mounting hole 111 is the needle exit area of ​​the steam needle 210. The shooting direction of the image acquisition device 310 is the direction in which the center line of the shooting range of the image acquisition device 310 extends outward from the image acquisition device 310. By keeping the shooting direction of the image acquisition device 310 within the range of 55° to 75° angle α with the needle exit direction of the steam needle 210, it can be effectively ensured that the shooting range of the image acquisition device 310 can accurately face the needle exit area of ​​the steam needle 210 and completely cover the needle exit area of ​​the steam needle 210, thereby accurately and comprehensively obtaining the needle exit image of the steam needle 210.

[0079] This application integrates the image acquisition device 310 onto the puncture connector 110, essentially combining it with the steam needle 210. This allows for maximum proximity to the exit area of ​​the steam needle 210, ensuring consistency with its movement at all times. Furthermore, the design of the image acquisition device 310's shooting direction improves the accuracy of acquiring images of the steam needle 210's exit and provides a maximum field of view for observing real-time events during steam ablation treatment, thus enhancing the guidance of the steam needle 210's position and movement during the ablation process.

[0080] Compared to traditional steam ablation systems that require a 30° viewing angle cystoscope system, this application integrates the image acquisition device 310 into the steam ablation system, which avoids compatibility issues between the steam ablation system and the endoscope system. During surgery, medical staff no longer need to monitor the endoscope system and the steam ablation system simultaneously, thus avoiding distraction and increasing medical risks.

[0081] In this embodiment, the image acquisition device 310 uses a vision sensor, and the shooting angle is 120°, that is, a shooting angle of 60° above and below the shooting center line of the image acquisition device 310. In other embodiments, the image acquisition device 310 may also use image acquisition devices with other shooting ranges.

[0082] As shown in Figure 7, according to one embodiment of this application, the built-in visual vapor ablation handle further includes at least two light sources 320. The light sources 320 are disposed in the second mounting hole 112, and the multiple light sources 320 are evenly distributed around the outside of the image acquisition unit 310. In this embodiment, the light sources 320 are also disposed in the second mounting hole 112 and integrated around the image acquisition unit 310, and the light sources 320 can provide illumination for the shooting range of the image acquisition unit 310.

[0083] Multiple light sources 320 are evenly distributed around the image acquisition unit 310, providing illumination for the image acquisition unit 310 to capture images from multiple positions and angles. This not only increases the brightness of the shooting range but also reduces shadow interference within the shooting range, thereby improving the image acquisition quality.

[0084] According to one embodiment of this application, the light source 320 is an adjustable-brightness LED lamp. In this embodiment, the light source 320 is an LED lamp, and the brightness of the LED lamp can be adjusted at any time according to actual needs, thereby adapting to the lighting intensity requirements of different vapor melting locations and shooting ranges.

[0085] In other embodiments, the light source 320 may also employ other brightness-adjustable lighting devices.

[0086] As shown in Figures 8 and 9, according to an embodiment provided in this application, the built-in visual steam ablation handle further includes a conduit component 120. The conduit component 120 includes an outer tube 121, a steam tube 122, and a wiring tube 123. The steam tube 122 and the wiring tube 123 are both inserted inside the outer tube 121. The outer tube 121 is connected to the puncture connector 110. The steam tube 122 communicates with the first mounting hole 111, which is suitable for forming an extension channel for the steam needle 210. The wiring tube 123 communicates with the second mounting hole 112, which is suitable for forming an extension channel for the cable 700, so that the cable 700 can be connected to the image acquisition device 310.

[0087] In this embodiment, the built-in visual steam ablation handle consists of a conduit component 120, a steam needle 210, an image acquisition device 310, and a puncture connector 110. The conduit component 120 consists of an outer tube 121, a steam pipe 122, and a wiring conduit 123. The steam pipe 122 and the wiring conduit 123 are inserted inside the outer tube 121, that is, the steam pipe 122 and the wiring conduit 123 extend along the axial direction of the outer tube 121 inside the outer tube 121. The end of the outer tube 121 is connected to the puncture connector 110. The steam needle 210 passes through the steam pipe 122 and then enters the first mounting hole 111. The cable 700 passes through the wiring conduit 123 and then enters the second mounting hole 112, connecting with the image acquisition device 310 and the light source 320 in the second mounting hole 112. The cable 700 is used to transmit the image signals acquired by the image acquisition device 310 and to supply power to the image acquisition device 310 and the light source 320, etc.

[0088] The steam pipe 122 communicates with the first mounting hole 111 to form an extension channel for the puncture needle, and the wiring pipe 123 communicates with the second mounting hole 112 to form an extension channel for the cable 700. The steam pipe 122 and the wiring pipe 123 are integrated inside the outer pipe 121 to form the conduit component 120. The conduit component 120 adopts the feature of integrating multiple channels in one pipe in its structural design. It constructs a space that is relatively independent for the extension of the steam needle 210 and the cable 700, so that they do not affect each other. It separates the steam from the circuit and ensures the sealing and safety of the conduit component 120.

[0089] Furthermore, the piercing connector 110 can be connected to the outer tube 121 by adhesive bonding. The steam pipe 122 and the wiring pipe 123 are directly installed inside the outer tube 121, so that the outer tube 121, the steam pipe 122 and the wiring pipe 123 remain relatively independent. The structure is simple, and the manufacturing and assembly are convenient and quick, with low cost.

[0090] According to one embodiment of this application, the catheter component 120 further includes a water pipe, which passes through the interior of the outer tube 121. The puncture connector 110 is also provided with a water passage hole, and the water pipe communicates with the water passage hole. In this embodiment, the catheter component 120 consists of an outer tube 121, a steam pipe 122, a conduit 123, and at least one water pipe. The water pipe also passes through the interior of the outer tube 121, that is, the water pipe extends along the axial direction of the outer tube 121 inside the outer tube 121. Correspondingly, a water passage hole is provided on the puncture connector 110. The end of the outer tube 121 is connected to the puncture connector 110. The water delivery pipe passes through the water pipe and then through the water passage hole. The water delivery pipe can be used for the delivery of physiological saline and can also be used to drain wastewater from the steam ablation site.

[0091] The water pipe is connected to the water passage hole to form an extension channel for the water supply pipe. The water pipe, steam pipe 122 and cable conduit 123 are integrated inside the outer pipe 121 to form the conduit component 120. The structural design of the conduit component 120 adopts the feature of one pipe integrating multiple channels. It constructs a relatively independent space for the extension of the water supply pipe, steam needle 210 and cable 700, so that they do not affect each other. The delivery of the water supply pipe, steam needle 210 and cable 700 is separated to ensure the sealing and safety of the conduit component 120.

[0092] Moreover, by directly installing water pipes, steam pipes 122 and wiring pipes 123 inside the outer pipe 121, the outer pipe 121, water pipes, steam pipes 122 and wiring pipes 123 remain relatively independent, resulting in a simple structure, convenient and quick manufacturing and assembly, and low cost.

[0093] In this embodiment, there can be one water passage hole. If multiple water pipes are installed inside the outer pipe 121, a corresponding switching device can be provided to switch the connection between each water pipe and the water passage hole, thereby meeting the requirements of water injection or drainage under different operational needs. During drainage, the water passage hole acts as a drain hole 113 and connects with the drain pipe 124 in the water pipe. During water injection, the water passage hole acts as a water injection hole and connects with the flushing pipe 125 in the water pipe. Moreover, since water injection and drainage do not occur at the same time, multiple water pipes can also simultaneously act as drain pipes 124 to discharge sewage and as flushing pipes 125 to inject saline solution. Similarly, when there is only one water pipe, it can act as both a drain pipe 124 and a flushing pipe 125.

[0094] According to one embodiment provided in this application, the water pipe includes a drain pipe 124 and a flush pipe 125, and the water passage includes a drain hole 113 and a flush hole 114. The drain pipe 124 is connected to the drain hole 113, and the flush pipe 125 is connected to the flush hole 114.

[0095] In this embodiment, there are two water pipes: a drain pipe 124 and a flushing pipe 125. The conduit assembly 120 consists of an outer pipe 121, a steam pipe 122, a conduit 123, a drain pipe 124, and a flushing pipe 125. Correspondingly, a drain hole 113 and a flushing hole 114 are provided on the puncture connector 110. The end of the outer pipe 121 is connected to the puncture connector 110. The conduit for draining wastewater from the steam ablation site passes through the drain pipe 124 and then into the drain hole 113. The conduit for delivering saline solution passes through the flushing pipe 125 and then into the flushing hole 114.

[0096] The interior of the drain pipe 124 is connected to the drain hole 113 to form an extension channel for the sewage pipe 500. The interior of the flush pipe 125 is connected to the flush hole 114 to form an extension channel for the saline pipe 600. The drain pipe 124, flush pipe 125, steam pipe 122 and cable conduit 123 are integrated inside the outer pipe 121, forming the conduit component 120. The structural design adopts the feature of one pipe integrating multiple channels. It constructs a relatively independent space for the extension of the sewage pipe 500, saline pipe 600, steam needle 210 and cable 700, so that they do not affect each other. It separates the delivery of sewage pipe 500, saline pipe 600, steam and cable 700, and ensures the sealing and safety of the conduit component 120.

[0097] Furthermore, in this embodiment, the drain pipe 124 and the flushing pipe 125 are set relatively independently, and the piercing joint 110 is also provided with drain holes 113 and flushing holes 114 respectively. There is no need to switch channels, and the sewage and saline are in their respective delivery channels, without affecting each other and without sharing. The drain pipe 124, flushing pipe 125, steam pipe 122 and wiring pipe 123 are directly installed in the outer pipe 121, so that the outer pipe 121, drain pipe 124, flushing pipe 125, steam pipe 122 and wiring pipe 123 are relatively independent. The structure is simple, and it is convenient and quick to manufacture and assemble, with low cost.

[0098] According to one embodiment provided in this application, the conduit component 120 further includes a support block 126, which is disposed inside the outer tube 121. The support block 126 is provided with a first groove 1261 and at least one second groove 1262. The cable conduit 123 is disposed in the first groove 1261, the water pipe is disposed in the second groove 1262, and the steam pipe 122 is disposed between the support block 126 and the inner wall of the outer tube 121.

[0099] In this embodiment, the conduit component 120 consists of an outer pipe 121, a steam pipe 122, a wiring pipe 123, a water pipe, and a support block 126. The support block 126 is disposed inside the outer pipe 121 and is used to support and position the steam pipe 122, the wiring pipe 123, and the water pipe, so as to prevent the steam pipe 122, the wiring pipe 123, and the water pipe from contacting each other and from moving within the outer pipe 121.

[0100] The first groove 1261 limits the wiring conduit 123, and the second groove 1262 limits the water pipe. The number of second grooves 1262 is adjusted according to the number of water pipes. The steam pipe 122 is limited between the support block 126 and the inner wall of the outer pipe 121. In this embodiment, the steam pipe 122 and the wiring conduit 123 are opposite each other, and the water pipe is located on one side of the steam pipe 122 and the wiring conduit 123. Thus, the support block 126 fixes the steam pipe 122, the wiring conduit 123 and the water pipe separately.

[0101] According to one embodiment provided in this application, when the water pipe includes a drain pipe 124 and a flush pipe 125, the support block 126 is provided with two second grooves 1262 and a protrusion 1263. The drain pipe 124 is provided in one second groove 1262, the flush pipe 125 is provided in the other second groove 1262, the protrusion 1263 is located between the two second grooves 1262, and the steam pipe 122 is abutted between the protrusion 1263 and the inner wall of the outer pipe 121.

[0102] In this embodiment, a steam pipe 122, a wiring pipe 123, a drain pipe 124, and a flushing pipe 125 are disposed inside the outer pipe 121. Two second grooves 1262 are provided corresponding to the drain pipe 124 and the flushing pipe 125, and a protrusion 1263 is formed between the two second grooves 1262. Thus, when the drain pipe 124 and the flushing pipe 125 are placed in the two second grooves 1262 respectively, the protrusion 1263 effectively separates the drain pipe 124 and the flushing pipe 125. The support block 126 has a symmetrical shape, and the top surface of the protrusion 1263 is sandwiched between the steam pipe 122 and the inner wall of the outer pipe 121. The support block 126, the steam pipe 122, the wiring pipe 123, the drain pipe 124, and the flushing pipe 125 fill the internal space of the outer pipe 121, and the overall structure of the conduit component 120 is compact.

[0103] According to one embodiment provided in this application, the steam pipe 122 is provided with a first seal 127 at the end that communicates with the first mounting hole 111.

[0104] According to one embodiment provided in this application, the water pipe is provided with a second seal 128 at the end communicating with the water passage.

[0105] According to one embodiment provided in this application, a third seal 115 is provided at the location where the cable 700 is connected to the image acquisition device 310 in the second mounting hole 112.

[0106] In this embodiment, a first seal 127 is provided between the end of the steam pipe 122 that enters the first mounting hole 111 of the piercing connector 110 and the first mounting hole 111. A second seal 128 is provided at the end of the flushing pipe 125 that enters the flushing hole 114 of the piercing connector 110. Another second seal 128 is provided at the end of the drain pipe 124 that enters the drain hole 113 of the piercing connector 110. The cable conduit 123 passes through the second mounting hole 112. After the cable 700 in the cable conduit 123 enters the second mounting hole 112 and is connected to the image acquisition device 310 and the light source 320, a third seal 115 is provided around the image acquisition device 310, the light source 320 and the connection position of the cable 700.

[0107] The first seal 127 prevents steam from overflowing from the steam needle 210 into the outer tube 121 of the conduit component 120, thus achieving a sealed connection between the first mounting hole 111 and the steam pipe 122. The second seal 128 prevents saline or sewage from entering the outer tube 121 of the conduit component 120, thus achieving a sealed connection between the water passage and the water pipe. The third seal 115 isolates the image acquisition device 310 and the light source 320 from the cable 700. In addition to being waterproof, it also prevents impurities from the environment where the puncture connector 110 is located from entering the interior of the conduit component 120. The main purpose is to separate the water, steam, and electrical pathways, thereby improving the safety of equipment use.

[0108] In this embodiment, the first seal 127 and the second seal 128 can both be sealing rings or sealing sleeves, and the third seal 115 can be formed by sealant.

[0109] According to one embodiment of this application, the built-in visual steam ablation handle further includes a handle body 130 and a needle control component 140. The handle body 130 has a cavity 131 inside, the needle control component 140 is disposed in the cavity 131, the outer tube 121 is connected to the handle body 130, the steam tube 122 is connected to the cavity 131, the steam needle 210 passes through the cavity 131 into the steam tube 122, the needle control component 140 is connected to the steam needle 210, and the needle control component 140 is adapted to switch between a first state and a second state. In the first state, the steam needle 210 is extended, and in the second state, the steam needle 210 is retracted.

[0110] In this embodiment, the handle body 130 has an internal cavity 131. One end of the outer tube 121 is connected to the handle body 130 and inserted into the cavity 131, while the other end is connected to the puncture connector 110. The cable 700, sewage pipe 500, saline pipe 600, and steam needle 210 all enter the cavity 131 from the outside. After passing through the cavity 131, they enter the cable conduit 123, drain pipe 124, flushing pipe 125, and steam pipe 122 of the outer tube 121, respectively. The needle control component 140 is connected to the steam needle 210 inside the cavity 131. By switching the state of the needle control component 140, the movement of the steam needle 210 can be realized. When the steam needle 210 advances in the steam pipe 122, it extends out of the first mounting hole 111, completing the exit of the steam needle 210. When the steam needle 210 retracts in the steam pipe 122, it retracts back into the first mounting hole 111, completing the retraction of the steam needle 210.

[0111] The outer shell of the handle body 130 consists of a front shell 1351, an upper shell 1352, a middle shell 1353, a rear shell 1354, a decorative cover 1355, and a bottom shell 1356. The outer shell is equipped with a needle extension button 136, a water flushing button 137, a steam button 138, a needle retraction button 133, a fixing pin 132, and a button PCBA 134. The steam needle 210 is extended by pressing the needle extension button 136 and the water flushing button 137 together, ensuring the safe and effective extension of the steam needle 210 and preventing accidental contact. When the needle retraction button 133 is pressed, the steam needle 210 can be automatically retracted. In case of emergency, pulling out the fixing pin 132 can manually retract the needle, thus activating a dual safety protection function.

[0112] In this embodiment, a steam generating component 220 is also provided in the cavity 131 of the handle body 130, and the steam needle 210 is connected to the steam generating component 220 to deliver steam.

[0113] As shown in Figure 10, according to the steam ablation system provided in this application, the needle control component 140 includes a first stator 142, a second stator 143, a rotor 144, a sleeve 141, and a slider 145. The sleeve 141 is sleeved on the outside of the slider 145. The first stator 142 and the second stator 143 are arranged on the outside of the sleeve 141 along the axial direction. The rotor 144 is arranged on the slider 145. The inside of the slider 145 is provided with a through hole 1451 along the axial direction of the sleeve 141. The steam needle 210 passes through the through hole 1451 and is connected to the slider 145. The slider 145 is adapted to switch between a first position and a second position. In the first position, the first stator 142 is energized and the second stator 143 is de-energized, and the needle control component 140 is in a first state. In the second position, the first stator 142 is de-energized and the second stator 143 is energized, and the needle control component 140 is in a second state.

[0114] In this embodiment, the needle control component 140 is composed of a first stator 142, a second stator 143, a rotor 144, a sleeve 141, and a slider 145. The first stator 142 and the second stator 143 are arranged sequentially along the axial direction of the sleeve 141 on the outer wall of the sleeve 141 to form a stator winding. The rotor 144 is arranged on the outer wall of the slider 145 to form a rotor 144 winding. The rotor 144 winding is arranged inside the stator winding. The slider 145 is provided with a through hole 1451 extending in the same direction as the sleeve 141. The steam needle 210 first passes through the through hole 1451 in the cavity 131 and then enters the steam pipe 122 of the conduit component 120.

[0115] The steam needle 210 is connected to the inner wall of the through hole 1451. Due to the switching on and off of the first stator 142 and the second stator 143, in conjunction with the magnetic rotor 144, the slider 145 can be driven to move along the axial direction of the sleeve 141 within the sleeve 141. The position of the first stator 142 is closer to the piercing joint 110 than the position of the second stator 143. Therefore, when the slider 145 moves to the corresponding position of the first stator 142, the steam needle 210 extends forward. When the slider 145 moves to the corresponding position of the second stator 143, the steam needle 210 retracts, thereby providing power for the forward and backward movement of the steam needle 210.

[0116] The steam ablation system provided in this application includes a built-in visual steam ablation handle and a controller 340 as described in the above embodiments. An image acquisition unit 310 is connected to the controller 340. The controller 340 is adapted to receive images acquired by the image acquisition unit 310 and to analyze and process the images to obtain analysis results.

[0117] In this embodiment, after the image acquisition device 310 acquires a real-time image of the steam needle 210, it sends the image signal to the controller 340. The controller 340 receives and processes the image signal and sends the processing result to the display 330. Based on the content displayed on the display 330, the doctor can control the puncture connector 110 of the built-in visual steam ablation handle to adjust the position and puncture depth of the steam needle 210. The steam ablation system integrates diagnosis and treatment, eliminating the need for a separate endoscopic hardware system and reducing overall operating costs.

[0118] In this embodiment, the steam ablation system is a disposable steam ablation device with built-in visual guidance, and it is also a steam therapy device that integrates a graphics workstation. This fundamentally solves the problems of traditional endoscope platforms being unsuitable for mounting steam ablation auxiliary systems, such as auxiliary positioning systems, system incompatibility, distraction of medical staff, and other issues.

[0119] According to one embodiment of this application, the steam ablation system further includes a display 330, which is connected to the controller 340 and is adapted to display the analysis and processing results sent by the controller 340.

[0120] This embodiment provides a built-in visually guided disposable prostate steam ablation catheter system. Structurally, the image acquisition device 310 and the light source 320 are built into the puncture connector 110, making the operation within the entire handle body 130 more flexible. After the compatibility between the puncture connector 110 and the image acquisition device 310 is improved, the doctor does not need to switch back and forth to look at the screen during the operation, avoiding the medical risks caused by distraction.

[0121] This application proposes a disposable prostate steam ablation system with built-in visual guidance. Before the procedure, relevant pre-operative preparations are made. The visual communication line 700 and the steam ablation communication line 800 are connected to the control system. The saline tube 600 and the wastewater tube 500 are connected to their respective positions. The controller 340 and the monitor 330 are connected and functioning correctly. Relevant tests are performed to ensure normal needle insertion, steam output, and saline output. After pre-operative preparation, a qualified physician operates the handle body 130, inserting the puncture connector 110 through the patient's urethra. Guided by the visual guidance device 300, the lesion location is located and ablation is performed. The ablation process is displayed in real-time on the monitor 330. This steam ablation system integrates an image acquisition device 310 within the puncture connector 110, allowing simultaneous monitoring of the entire ablation procedure and steam ablation parameters. The physician does not need to switch screens back and forth, thus avoiding distraction.

[0122] The image processing method of the steam ablation system provided in this application is described below. The image processing method of the steam ablation system described below can be referred to in correspondence with the steam ablation system described above.

[0123] As shown in Figures 11 to 15, this application embodiment also provides an image processing method for a steam ablation system, applied to the steam ablation system as described in the above embodiments, including:

[0124] Acquire live images of the steam needle 210;

[0125] The main image of the steam needle 210 is obtained by performing a first image preprocessing on the real-time image of the steam needle 210;

[0126] The needle-out image of the steam needle 210 is obtained based on the main body image of the steam needle 210;

[0127] Based on the needle exit image of the steam needle 210, the position and size of the marker point of the steam needle 210 are obtained.

[0128] The image processing method of the steam ablation system in this embodiment of the application, wherein the controller 340 includes a vision software system, is implemented as follows:

[0129] The image acquisition unit 310 of the steam ablation system acquires real-time images of the steam needle 210 as image data for the surgical field.

[0130] The real-time image of the steam needle 210 is preprocessed to identify the edge shape of the steam needle 210. As shown in Figure 12, the image of the largest white steam needle 210 area is obtained as the main image of the steam needle 210.

[0131] The main image of the steam needle 210 is processed to obtain the needle-out image of the steam needle 210. The position and size of the marking point of the steam needle 210 can be determined from the needle-out image of the steam needle 210.

[0132] As shown in Figures 13 and 15, the mark in the middle of the white area represents the center point of the main body area of ​​the steam needle 210 in the image.

[0133] First, the system checks if there are two distinct colors in the densely sampled area of ​​the steam needle 210's extension region in the needle ejection image, i.e., whether there are black markers. If not, the puncture depth of the steam needle 210 at the affected area is sufficiently safe. If it exists, the black markers in the image are extracted, and their position and size are calculated to determine if the puncture depth of the steam needle 210 in the prostate is safe. If the marker position is abnormal or the size exceeds the safe range, the system will issue an alarm, reminding the doctor to adjust the puncture depth and angle to ensure real-time feedback and operational guidance, as well as the safety of the procedure.

[0134] The graphical workstation module uses a Qt-based graphical interface to display processed images, marker recognition results, and surgical navigation information in real time. Simultaneously, the system can provide operational guidance based on recognition results and operational needs, helping doctors better understand the surgical process and precautions.

[0135] According to one embodiment provided in this application, obtaining the needle-out image of the steam needle 210 based on the main body image of the steam needle 210 includes:

[0136] Based on the main image of the steam needle 210, the needle extension area of ​​the steam needle 210 is determined;

[0137] Based on the needle extension area of ​​the steam needle 210, the main image of the steam needle 210 is subjected to a second image preprocessing to obtain the needle extension image of the steam needle 210.

[0138] In this embodiment, the edge of the white steam needle 210 area in the main image of the steam needle 210 is used as a vertical extension auxiliary line to obtain the needle extension area of ​​the steam needle 210, as shown in Figure 13. The extension direction of the auxiliary line is the needle extension direction of the steam needle 210.

[0139] The main image of the steam needle 210 is preprocessed a second time. Within the extension area of ​​the steam needle 210, the image is displayed as black markers in the extension area of ​​the steam needle 210 and the tip of the steam needle 210, as shown in Figure 14, thus forming the exit image of the steam needle 210.

[0140] According to one embodiment provided in this application, obtaining the main image of the steam needle 210 by performing a first image preprocessing on a live image of the steam needle 210 includes:

[0141] The live image of the steam needle 210 is denoised and enhanced, and processed with a first threshold color level to obtain a first preprocessed image, the first threshold color level being between 170 and 230;

[0142] Edge detection and contour extraction are performed on the first preprocessed image to obtain the main image of the steam needle 210.

[0143] In this embodiment, OpenCV's image processing function is used to denoise and enhance the real-time image of the steam needle 210, and to process it with a first threshold color level of 170 to 230; then, edge detection and contour extraction are performed on the first preprocessed image to obtain the main image of the steam needle 210.

[0144] In this embodiment, the first threshold color level can be selected as 200.

[0145] According to one embodiment provided in this application, the process of obtaining the needle-out image of the steam needle 210 by performing a second image preprocessing on the main image of the steam needle 210 includes:

[0146] The main image of the steam needle 210 is processed with a second threshold color level to obtain a second preprocessed image, where the second threshold color level is between 140 and 160.

[0147] The second preprocessed image is subjected to color space conversion and threshold segmentation to obtain the needle exit image of the steam needle 210.

[0148] In this embodiment, in the image after the first image preprocessing, OpenCV is used to adjust the second threshold color level to between 140 and 160, and then the needle-out image of the steam needle 210 is obtained through color space conversion and threshold segmentation algorithm.

[0149] In this embodiment, the second threshold color level can be selected as 150.

[0150] Figure 16 illustrates a schematic diagram of the physical structure of an electronic device, which may include a processor 810, a communications interface 820, a memory 830, and a communication bus 840. The processor 810, communications interface 820, and memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions from the memory 830 to execute an image processing method for a vapor ablation system.

[0151] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0152] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to perform the image processing method of the vapor ablation system provided by the above methods.

[0153] In another aspect, this application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the image processing method of the vapor ablation system provided by the above methods.

[0154] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0155] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A visual vapor ablation handle, comprising: a puncture joint, provided with a first mounting hole and a second mounting hole; a vapor needle, penetrating through the first mounting hole; an image collector, provided in the second mounting hole; an angle between a shooting direction of the image collector and a needle-out direction of the vapor needle from the first mounting hole is 55°-65°. 2.The visual vapor ablation handle according to claim 1, further comprising at least two light sources, provided in the second mounting hole, and uniformly distributed outside the image collector, the light sources being adjustable LED lamps. 3.The visual vapor ablation handle according to claim 1, further comprising a catheter component, comprising an outer tube, a vapor tube and a wire tube, the vapor tube and the wire tube penetrating through the inside of the outer tube, the outer tube being connected with the puncture joint, the vapor tube being communicated with the first mounting hole, and being adapted to form an extension channel of the vapor needle, the wire tube being communicated with the second mounting hole, and being adapted to form an extension channel of a cable, so that the cable is connected with the image collector; the catheter component further comprising a water tube, penetrating through the inside of the outer tube, the puncture joint being further provided with a water hole, the water tube being communicated with the water hole.

4. The visual, in-built vapor ablation handle of claim 3, wherein, The water tube comprises a drainage tube and a flushing tube, the water hole comprises a drainage hole and a flushing hole, the drainage tube being communicated with the drainage hole, and the flushing tube being communicated with the flushing hole.

5. The visual, vapor ablation handle within built, according to claim 4, wherein, The catheter component further comprises a support block, provided inside the outer tube, the support block being provided with a first groove and at least one second groove, the wire tube being provided in the first groove, the water tube being provided in the second groove, and the vapor tube being provided between the support block and the inner wall of the outer tube.

6. The visual, vapor ablation handle within built, according to claim 5, wherein, The vapor tube is provided with a first sealing member at an end communicated with the first mounting hole, the water tube is provided with a second sealing member at an end communicated with the water hole, and the second mounting hole is provided with a third sealing member at a position where the cable is connected with the image collector. 7.The visual vapor ablation handle according to any one of claims 3-6, further comprising: a handle body, provided with a cavity inside, the outer tube being connected with the handle body, the vapor tube being communicated with the cavity, and the vapor needle penetrating through the vapor tube from the cavity; a needle control component, provided in the cavity, the needle control component being connected with the vapor needle, and being adapted to switch between a first state and a second state, in the first state, the vapor needle being out of the needle, in the second state, the vapor needle being retracted into the needle; the needle control component comprising: a sleeve; a first stator and a second stator, provided outside the sleeve along an axial direction of the sleeve; a rotor, provided in the slider; A slider, the sleeve is sleeved outside the slider, the inside of the slider is provided with a through hole along the axial direction of the sleeve, the steam needle is penetrated through the through hole, and the steam needle is connected with the slider. The slider is adapted to switch between a first position and a second position. In the first position, the first stator is powered, the second stator is powered off, and the needle control component is in the first state. In the second position, the first stator is powered off, the second stator is powered on, and the needle control component is in the second state.

8. A vapor ablation system, comprising: The built-in visual vapor ablation handle according to any one of claims 1 to 7; A controller, the image collectors are connected with the controller, the controller is adapted to receive the images collected by the image collectors and analyze and process the images to obtain analysis results. A display connected with the controller is adapted to display the analysis results sent by the controller.

9. An image processing method of a vapor ablation system, applied to the vapor ablation system of claim 8, comprising: Obtaining a live image of a steam needle; First image preprocessing of the live image of the steam needle to obtain a main image of the steam needle; Obtaining a needle-out image of the steam needle based on the main image of the steam needle; Obtaining the position and size of the marker point of the steam needle based on the needle-out image of the steam needle.

10. The image processing method of a steam ablation system according to claim 9, wherein, The method comprises: Determining the needle-out extension area of the steam needle based on the main image of the steam needle; Second image preprocessing of the main image of the steam needle based on the needle-out extension area of the steam needle to obtain the needle-out image of the steam needle.

11. The image processing method of a steam ablation system according to claim 10, wherein, The method comprises: Denoising and enhancing the live image of the steam needle, and processing it with a first threshold value grayscale between 170 and 230 to obtain a first preprocessed image; Edge detection and contour extraction of the first preprocessed image to obtain the main image of the steam needle.

12. The image processing method of a steam ablation system according to claim 11, wherein, The method comprises: Processing the main image of the steam needle with a second threshold value grayscale between 140 and 160 to obtain a second preprocessed image; Color space conversion and threshold segmentation processing of the second preprocessed image to obtain the needle-out image of the steam needle.

13. A built-in visual vapor ablation handle, comprising: A puncture joint provided with a first mounting hole and a second mounting hole; A steam needle penetrated through the first mounting hole; An image collector arranged in the second mounting hole, the included angle between the shooting direction of the image collector and the needle-out direction of the steam needle from the first mounting hole is 55°-75°.

14. The built-in visual vapor ablation handle according to claim 13, further comprising at least two light sources arranged in the second mounting hole, and the light sources are uniformly distributed outside the image collector and are adjustable LED lights.

15. The handle according to claim 13, further comprising a catheter component, the catheter component comprising an outer tube, a steam tube and a wire tube, the steam tube and the wire tube being arranged inside the outer tube, the outer tube being connected with the puncture joint, the steam tube being communicated with the first mounting hole, and being adapted to form an extension channel of the steam needle, the wire tube being communicated with the second mounting hole, and being adapted to form an extension channel of the cable, so that the cable is connected with the image collector; the catheter component further comprising a water tube, the water tube being arranged inside the outer tube, the puncture joint further comprising a water hole, the water tube being communicated with the water hole.

16. The visual, vaporization ablation handle within built, according to claim 15, wherein, The water tube comprises a drainage tube and a flushing tube, and the water hole comprises a drainage hole and a flushing hole, the drainage tube being communicated with the drainage hole, and the flushing tube being communicated with the flushing hole.

17. The visual, vaporization ablation handle within built, according to claim 16, wherein, The catheter component further comprises a support block, the support block being arranged inside the outer tube, the support block being provided with a first groove and at least one second groove, the wire tube being arranged in the first groove, and the water tube being arranged in the second groove, the steam tube being arranged between the support block and the inner wall of the outer tube.

18. The visual, vaporization ablation handle within built, according to claim 17, wherein, The steam tube is provided with a first sealing element at the end communicated with the first mounting hole, the water tube is provided with a second sealing element at the end communicated with the water hole, and the second mounting hole is provided with a third sealing element at the position where the cable is connected with the image collector.

19. The handle according to any one of claims 15 to 18, further comprising: a handle body, the handle body being internally provided with a cavity, the outer tube being connected with the handle body, the steam tube being communicated with the cavity, and the steam needle being arranged in the steam tube from the cavity; a needle control component, the needle control component being arranged in the cavity, the needle control component being connected with the steam needle, and the needle control component being adapted to be switched between a first state and a second state, in the first state, the steam needle is extended, and in the second state, the steam needle is retracted; the needle control component comprising: a sleeve; a first stator and a second stator, the first stator and the second stator being arranged on the outside of the sleeve along the axial direction of the sleeve; a rotor, the rotor being arranged in the slider; a slider, the sleeve being arranged on the outside of the slider, the inside of the slider being provided with a through hole along the axial direction of the sleeve, the steam needle being arranged in the through hole, and the steam needle being connected with the slider, the slider being adapted to be switched between a first position and a second position, in the first position, the first stator is powered, the second stator is powered off, and the needle control component is in the first state, in the second position, the first stator is powered off, the second stator is powered, and the needle control component is in the second state.

20. A steam ablation system, comprising: the handle according to any one of claims 13 to 19; a controller, the image collectors being connected with the controller, and the controller being adapted to receive images collected by the image collectors, and to analyze and process the images to obtain analysis results. A display connected to the controller and adapted to display the analysis results sent by the controller.

21. An image processing method of a vapor ablation system, applied to the vapor ablation system of claim 20, comprising: acquiring a live image of the vapor needle; performing first image preprocessing on the live image of the vapor needle to obtain a main image of the vapor needle; obtaining a needle-out image of the vapor needle based on the main image of the vapor needle; obtaining a marker point position and size of the vapor needle based on the needle-out image of the vapor needle.

22. The image processing method of a steam ablation system of claim 21, wherein, The obtaining of the needle-out image of the vapor needle based on the main image of the vapor needle comprises: determining a needle-out extension area of the vapor needle based on the main image of the vapor needle; performing second image preprocessing on the main image of the vapor needle based on the needle-out extension area of the vapor needle to obtain the needle-out image of the vapor needle.

23. The image processing method of a steam ablation system of claim 22, wherein, The first image preprocessing on the live image of the vapor needle to obtain the main image of the vapor needle comprises: performing denoising and enhancement on the live image of the vapor needle, and processing the live image in a first threshold grayscale between 170 and 230 to obtain a first preprocessed image; performing edge detection and contour extraction on the first preprocessed image to obtain the main image of the vapor needle.

24. The image processing method of a steam ablation system according to claim 23, wherein, The second image preprocessing on the main image of the vapor needle to obtain the needle-out image of the vapor needle comprises: processing the main image of the vapor needle in a second threshold grayscale between 140 and 160 to obtain a second preprocessed image; performing color space conversion and threshold segmentation processing on the second preprocessed image to obtain the needle-out image of the vapor needle.

25. The visual, vaporization, ablation handle within, according to claim 13, wherein, The included angle is 70°.

Images