CN105534593B - interventional ablation simulation system and method - Google Patents
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Abstract
本发明提供了一种介入消融模拟系统，包括超声探头、模拟模块、定位模块，所述超声探头用于生成所述目标组织的超声图像；所述定位模块用于获取探头位置信息；所述模拟模块用于生成并显示模拟消融区域图像；本发明的介入消融模拟系统，用于通过获取目标组织的超声图像及模拟消融区域图像，模拟消融操作，准确地模拟现实规划的消融范围，从而为实施模拟消融演示，为消融手术提供客观的参考和实际操作的引导。本发明还提供一种介入消融模拟方法。
The invention provides an interventional ablation simulation system, comprising an ultrasonic probe, a simulation module, and a positioning module, wherein the ultrasonic probe is used to generate an ultrasonic image of the target tissue; the positioning module is used to obtain probe position information; the simulation The module is used to generate and display the simulated ablation area image; the interventional ablation simulation system of the present invention is used for simulating the ablation operation by acquiring the ultrasound image of the target tissue and the simulated ablation area image, and accurately simulating the actual planned ablation range, so as to facilitate the implementation of the Simulated ablation demonstration provides objective reference and practical guidance for ablation surgery. The present invention also provides an interventional ablation simulation method.
Description
Technical field
The present invention relates to a kind of intervention ablation simulation system and methods.
Background technique
The intracorporal tumor tissues of people must be removed or killed in order to dispose cancer.Common resection operation is to human body
Damage is very big, and many patients can not carry out resection operation.Due to imaging technique progress and minimally invasive intervening equipment it is quick
Development, image-guided interventional therapy, especially ultrasonic guidance interventional ablation therapy have been used as the most important treatment of clinical tumor
One of means.
Current common intervention ablation method: RF ablation (RFA, radio-frequency ablation), microwave disappear
Melt, laser ablation, cryoablation.Above-mentioned intervention ablation method is all to kill tumor region in human body by minimally invasive intervention form,
But the limitation due to melting mode itself, every intervention ablation needle can only all kill the tumour cell of finite region, in tumour
When the discrete distribution of larger or multiple tumours, needs to carry out multiple inserting needle ablation, be to guarantee the accurate tumour cell that kills without damaging
Wound damages normal tissue less, it is necessary to plan inserting needle path, carry out to estimated ablation areas preoperative in advance
Assessment verifying.The preoperative planning of inserting needle path in the prior art is all based on preoperative collected static state 3D data, is based on the number
It is very big according to the path and actual clinical interventional procedure difference of planning.Due to by the human bodies group such as rib cage in practical interventional procedure
The influence knitted does not account for the laying method for guiding the ultrasonic probe of inserting needle, can not according to the path inserting needle of planning, for
The directiveness of practical clinical is less.
Summary of the invention
A kind of intervention ablation simulation system is provided, for the ultrasound image and simulation ablation areas by obtaining destination organization
Image simulates ablation operation, preset ablation range, to provide objective reference to implement ablative surgery.
A kind of intervention ablation simulation system, including ultrasonic probe, locating module, analog module,
The ultrasonic probe includes,
Ultrasonic Transmit-Receive Unit for emitting ultrasonic pulse, and receives echo letter of the ultrasonic pulse in destination organization
Breath；
Control unit is connected to the ultrasonic Transmit-Receive Unit of the ultrasonic probe, for controlling the ultrasonic Transmit-Receive Unit hair
It penetrates the ultrasonic pulse, receive the echo information；
Imaging unit is connected to the ultrasonic Transmit-Receive Unit of the ultrasonic probe, for handling the echo information to generate
The ultrasound image of the destination organization；
The locating module is single for obtaining probe position information and the probe position information being sent to the simulation
Member, the probe position information are used to indicate position and direction of the ultrasonic probe relative to destination organization；
The analog module includes,
Input unit, for inputting the running parameter of ablation operation, the running parameter is for generating simulation ablation areas；
Analogue unit is connected to the input unit, probe position information for being obtained according to the locating module and
The running parameter of the input unit input, generates simulation ablation areas image；
Display unit is connected to the imaging unit and the analogue unit, for showing the ultrasound of the destination organization
Image and the simulation ablation areas image.
Further, the analog module is additionally provided with storage unit, the storage unit be connected to the imaging unit with
The analogue unit, for storing the ultrasound image, simulation ablation areas image, probe position information and running parameter.
Further, the locating module uses optical positioning apparatus or magnetic field positioning apparatus.
Further, the display unit is equipped with display child window, and the display child window is for showing the ultrasound figure
As the intersection situation with simulation ablation areas image.
Further, the intersecting area of the ultrasound image and simulation ablation areas image is marked using profile or colour
Note.
Further, the display unit is equipped with display child window, and the display child window is used for Three-dimensional Display ultrasound figure
As the relative positional relationship with simulation ablation areas image.
A kind of intervention ablation analogy method, includes the following steps,
The ultrasound image of acquisition and displaying target tissue in real time, real-time acquisition probe location information；
Simulation ablation areas is generated according to the probe position information, and real-time display simulates ablation areas image；
Compare the ultrasound image and simulation ablation areas image of the destination organization.
Further, when according to the probe position information generate simulation ablation areas, and real-time display simulate zone of ablation
When area image, further include steps of
Be arranged ablation needle power and lasting ablation time, obtain the simulation ablation range of ablation needle；
Inserting needle position is set according to the object in destination organization, chooses the intervention puncture path of the ablation needle, and set
Set the depth of needle of the ablation needle；
Simulation ablation areas is generated according to the simulation ablation range of the ablation needle, intervention puncture path, depth of needle, and
Show corresponding simulation ablation areas image；
Above step is repeated until the simulation ablation areas image covers the object.
Further, the simulation ablation areas image coverage goal object and the object and object are further covered
Security boundary.
Further, when choosing the intervention puncture path of the ablation needle and the depth of needle of the ablation needle being set, edge
The depth of needle of guiding puncture line direction setting ablation needle in ultrasound image.
Further, when the ultrasound image and simulation ablation areas image for comparing the destination organization, using volume drawing
Or ultrasound image described in iso-surface patch Three-dimensional Display and simulation ablation areas image.
Further, the ultrasound image is using one in ultrasonic fundamental wave image, ultrasonic harmonic image, ultrasonic contrast image
Kind or in which at least two blending image.
Further, the ablation needle is for implementing in RF ablation, microwave ablation, cryoablation and laser ablation
Any one.
Further, when generating simultaneously real-time display simulation ablation areas image, display ultrasound image and simulation ablation areas
With the intersecting area of ultrasound image.
Further, when the ultrasound image and simulation ablation areas image for comparing the destination organization, in same coordinate
Three-dimensional Display ultrasound image and simulation ablation areas in being.
Further, when the ultrasound image and simulation ablation areas image for comparing the destination organization, by different
Display child window shows the joint ablation areas of multiple simulation ablation areas.
Further, it when the ultrasound image and simulation ablation areas image for comparing the destination organization, shows described
Close the intersection situation of ablation areas and the ultrasound image.
Intervention ablation simulation system of the invention and method, by the ultrasound image and the simulation zone of ablation that obtain destination organization
Area image simulates the inserting needle path of ablation needle, intervention puncture path, the depth, preset ablation range of ablation needle is set, convenient for drawing
Lead the operation of operator's intervention ablation.By the positioning to destination organization and ultrasonic probe, determine that ultrasonic probe and intervention puncture road
Diameter and the relative spatial co-ordinates relationship for simulating ablation range, and the ablation path of each ultrasound cross-section of real-time display and setting and
Simulate the intersection situation of ablation range.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of composition schematic diagram of intervention ablation simulation system provided by the invention；
Fig. 2 is a kind of flow diagram of intervention ablation analogy method provided by the invention；
Fig. 3 to Fig. 6 is the ultrasound image of destination organization of the invention and the display schematic diagram of simulation ablation areas image.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, better embodiment of the invention provides a kind of intervention ablation simulation system, comprising: ultrasonic probe
10, analog module 20, locating module 40.The intervention ablation simulation system is for carrying out data sampling and processing, consequently facilitating right
Interventional ablation therapy carries out preoperative simplation verification.
Ultrasonic probe 10, for generating the ultrasound image of destination organization, including ultrasonic Transmit-Receive Unit 11, control unit 13,
Imaging unit 15, in which:
Ultrasonic Transmit-Receive Unit 11, for emitting ultrasonic pulse and receiving echo letter of the ultrasonic pulse in destination organization
Breath.The echo information is used to carry out data processing for the ultrasonic probe 10 and generates the ultrasound image of destination organization.Ultrasound
Transmit-Receive Unit 11 may be disposed in the ultrasonic probe 10, and phased array probe, linear array probe, Jie can be used in the ultrasonic probe 10
Enter small convex probe and 3D/4D probe in any one.
Control unit 13 is connected to the ultrasonic Transmit-Receive Unit 11 of the ultrasonic probe 10, for controlling the ultrasonic probe
10 ultrasonic Transmit-Receive Unit 11 emits ultrasonic pulse to destination organization and receives the echo information of the ultrasonic pulse.
Imaging unit 15 is connected to the ultrasonic Transmit-Receive Unit 11 of the ultrasonic probe 10, for handling the echo information
To generate the ultrasound image of the destination organization.
Analog module 20 is used to generate simulation ablation areas image, including input unit 21 and analogue unit 23, display list
Member 25, in which:
Input unit 21, for inputting the running parameter of ablation operation.The running parameter may include disappearing for ablation operation
Melt the power of needle, continue ablation time, preset ablation range.
Analogue unit 23 is connected to the input unit 21, the probe position information for being obtained according to locating module 40
Intervention puncture path, the depth of needle of ablation needle are set, and simulates and gives birth to according to the running parameter that the input unit 21 inputs
At simulation ablation areas.
Display unit 25 is connected to the imaging unit 15 and the analogue unit 23, for showing the destination organization
Ultrasound image and it is described simulation ablation areas simulation ablation areas image.In the present embodiment, the display unit 25 can
Multiple display child window (not shown) are set, for showing different image or information as needed.Such as the display child window
It can show the ultrasound image and simulate the intersection situation of ablation areas image, the phase of ultrasound image and simulation ablation areas image
Profile can be used for friendship region or colour is marked.The display child window can also be used in Three-dimensional Display ultrasound image and disappear with simulation
The relative positional relationship of tabetisol area image.
Further, the analog module 20 is additionally provided with storage unit 27, and the storage unit 27 is described super for storing
Acoustic image, simulation ablation areas image, probe position information and running parameter.
Locating module 40, for obtaining the relative position of the ultrasonic probe 10 and destination organization, to obtain described super
Probe position information between sonic probe 10 and destination organization, by the probe position information be sent to imaging unit 15 with it is described
Analogue unit 23, and shown by display unit 25.The probe position information is used to indicate the ultrasonic probe relative to mesh
Mark position and the direction of tissue.The locating module 40 can be connected to what the locating module obtained by wired or wireless way
Probe position information.Appoint it is understood that optical positioning apparatus or magnetic field positioning apparatus etc. can be used in the locating module 40
The structure or principle for type of anticipating position tissue and ultrasonic probe 10.
In the present embodiment, the locating module 40 includes field generating unit 41, probe positioning unit 43, destination organization
Positioning unit 45, signal receiving unit 47.
Field generating unit 41, for generating magnetic field.
Probe positioning unit 43, the magnetic field strength of the position for sensing 43 place of probe positioning unit in real time are raw
Positioning unit 35 is sent at corresponding magnetic field intensity signal and by corresponding magnetic field intensity signal.It is understood that described
Probe positioning unit 43 can be used any suitable mode and be set to ultrasonic probe 10, such as can open up card in the ultrasonic probe 10
Slot, and probe positioning unit 43 is fastened in clamping；It can also be arranged inside ultrasonic probe 10 all kinds of for installing the spy
The locating module of head positioning unit 43.
Destination organization positioning unit 45, is placed in target tissue surface, for sensing the destination organization positioning list in real time
The magnetic field strength of position where member 45 generates corresponding magnetic field intensity signal and is sent to corresponding magnetic field intensity signal and determines
Bit location 35.In the present embodiment, destination organization positioning unit 45 is placed on the target tissue surface of human body, for obtaining
The space and orientation of current goal tissue.Further, the destination organization positioning unit 45 is placed on target tissue surface, also
It can be used for obtaining the motion information of target tissue surface caused by the motion information i.e. human body respiration of target tissue surface skin.Institute
The motion information for stating target tissue surface can be used for being corrected the information that upper locating module obtains of popping one's head in.The target group
Knitting positioning unit 45 can be used the mesh that double-sided adhesive, adhesive tape, bandage or other applicable patterns are fixed on targeted imaging region attachment
Mark artificial skin surface.Require the destination organization positioning unit 45 solid relative to destination organization in whole image scanning process
It is fixed.
Signal receiving unit 47, the magnetic sent for receiving the probe positioning unit 43 and destination organization positioning unit 45
Field intensity signal, and obtain the location information of the destination organization positioning unit 45 according to the magnetic field intensity signal and pop one's head in and determine
The location information of bit location 43.Wherein the location information of destination organization positioning unit 45 is targeted tissue site information, probe
The location information of positioning unit 43 is ultrasound probe position information.The location information may include that space coordinate and direction are believed
Breath.The signal receiving unit 47 can be used wired or wireless mode and be connected to the imaging unit 15 and the analogue unit
23
In the present embodiment, signal receiving unit 47 can be according to the destination organization positioning unit 45 and probe positioning unit
The magnetic field intensity signal of 43 passbacks calculates and obtains destination organization positioning unit 45 and the current space of positioning unit 43 of popping one's head in is sat
Mark and direction (x, y, z, a, b, c).Wherein, x, y, z is that current goal tissue positioning unit 45 or probe positioning unit 43 are opposite
Space coordinate in magnetic field, a, b, c are current goal tissue positioning unit 45 or side of the positioning unit 43 relative to magnetic field of popping one's head in
To information.It is understood that the form that Eulerian angles, quaternary number and matrix can also be used describes the coordinate and orientation of object.
In the present embodiment, ultrasonic probe 10 is connected to signal receiving unit 47, to obtain current destination organization in real time
Location information R1=(x1, y1, z1, a1, b1, c1) with probe location information R2=(x2, y2, z2, a2, b2, c2).Ultrasonic probe
10 obtain ultrasound echo signal from ultrasonic probe 10 and carry out processing formation image, while obtaining the figure from signal receiving unit 47
Location information (the R of ultrasonic probe 10 and destination organization relative to magnetic field space when as acquisition1, R2), and obtained in turn in the image
Dimensional orientation coordinate of the ultrasonic probe 10 relative to destination organization positioning unit 45 when acquisition, the i.e. ultrasonic probe 10 with
Location information between destination organization.
It is understood that obtaining ultrasonic probe 10 can adopt relative to the dimensional orientation coordinate of destination organization positioning unit 45
With the mode of coordinate transform, a coordinate origin is equivalent to by magnetic field generator and moves on to destination organization positioning module, herein not superfluous
It states.
After obtaining coordinate of the ultrasound image relative to destination organization positioning unit 45, due to 45 phase of destination organization positioning unit
It is constant for the position of destination organization.In multiple data acquisition, even if destination organization integrally moves in magnetic field, pass through
Conversion can always obtain position of each group acquisition data in the coordinate space that destination organization positioning unit 45 determines.I.e. multiple
Overall movement of the data reduction of acquisition to the same coordinate system, without considering destination organization.Orientation based on known two objects
Data calculate azimuthal coordinates of one of object in the coordinate system with another object, can be rotated and be become by Eulerian angles
The mode of changing obtains, and above-mentioned azimuthal coordinates can also be converted into quaternary number and be calculated, not repeated herein.
As shown in Fig. 2, the present invention provides a kind of intervention ablation analogy method, comprising the following steps:
Step S101 acquires the ultrasound image of simultaneously displaying target tissue, real-time acquisition probe location information in real time；The spy
Head location information is used to indicate the relative position between the destination organization and ultrasonic probe 10.In this step, pass through ultrasound
Probe 10 obtains and shows the ultrasound image of the destination organization of human body.Each frame ultrasound image can all be obtained by locating module 40
The probe position information at corresponding moment.
Step S102 generates simulation ablation areas according to the probe position information, and real-time display simulates ablation areas
Image.
Step S102 is further included steps of
Step S1021, power and lasting ablation time, the simulation ablation range for obtaining ablation needle that ablation needle is arranged are big
It is small.In this step, operator can input given power and the ablation duration of ablative surgery, and be joined according to above-mentioned work
Number obtains the range size of simulation ablation areas.Operator can also first set the range of required simulation ablation areas, i.e., preset
Ablation range, and the works such as power and ablation duration are given according to the selection of the range of the simulation ablation areas of setting accordingly
Make parameter.Since the ablation range of ablation needle is usually ellipsoid, in this step, when the range of setting simulation ablation areas
When, it need to only set the long axis length and minor axis length of ellipsoid.
Since the ablation areas that microwave melt needle generates under different capacity and working time has very big difference, use
When microwave ablation, need to set different simulation ablation areas according to different power and working time to the same type of crown,
Every kind of combination is identified.Operator can be previously set simulation of the various ablation needles under different capacity and working time and disappear
Tabetisol domain constructs a simple data bank.In clinical application, operator can be introduced directly into the ablation needle being set
The running parameters such as ablation range and power setting.
Inserting needle position is arranged according to the object in destination organization in step S1022, and the intervention for choosing the ablation needle punctures
Path, and the depth of needle of the ablation needle is set.
In this step, pass through mobile ultrasonic probe 10 and the object in destination organization is obtained by ultrasonic probe 10
Tangent plane picture.Then according to the tangent plane picture of the object, according to the position of the intervention plan setting ultrasonic probe of conception, and
By the relative position described in 25 real-time display of display unit between ultrasonic probe and the destination organization, choose corresponding
The inserting needle position of ablation operation is simulated, the inserting needle position can be indicated by the probe position information.In the present embodiment
In, the object is that need to pass through the target tumor of ablation needle intervention ablation.Further, settable behind selected inserting needle position
It is used to indicate the guiding puncture line of the intervention puncture path of ablation needle, and adjusts guiding puncture line angle degree, so that guiding puncture line
By object, then along the simulation depth of needle of guiding puncture line adjustment ablation needle.It in the present embodiment, can be by super
The modules such as acoustic control panel knob, key or touch screen adjust simulation depth of needle as input unit 21.
Step S1023 generates simulation according to the simulation ablation range of the ablation needle, intervention puncture path, depth of needle
Ablation areas, and show corresponding simulation ablation areas image.In this step, the real-time simulative display of display unit 25 can be passed through
Ablation needle enters the state of object region along guiding puncture line, shows the simulation of ellipsoid in the ablation needle tip of simulation
Ablation areas image.The simulation ablation areas image can show the simulation ablation range of ablation needle, can also further display and set
It is equipped with the position of the ultrasonic probe of ablation needle, the inserting needle position of ablation needle, intervention puncture path, depth of needle.
Step S1024 repeats above step until the simulation ablation areas image covers the object.Further
, simulation ablation areas image can coverage goal object and object security boundary.In this step, operator can repeat
The simulation setting of multiple ablation needle intervention puncture path is carried out, to guarantee that simulation ablation areas includes entire target object area and peace
Full boundary.Wherein security boundary refers to during intervention ablation, generally requires ablation areas coverage goal object edge to extending out
The distance of 5mm or so is opened up, to guarantee the complete ablation to entire object.Therefore the united ablation areas of spininess will not only cover
Target object area will also cover security boundary.
Step S103 compares the ultrasound image and simulation ablation areas image of the destination organization.In this step, pass through
Display unit 25 shows that the ultrasound image of tissue ablation areas image and is compared with simulating.
The display unit 25 is equipped with display area, and the settable one or more in display area shows child windows, respectively
A display child window shows different information.In this step, the display child window of the display unit 25 can real-time display it is current
The ultrasound image of the destination organization at moment and the intersection situation of simulation ablation areas image, can pass through different angle overview setup
Simulate whether ablation areas includes tumor region.
As shown in Figure 3,4, display child window can Three-dimensional Display simulation ablation areas image and current ultrasonic image intersection
Situation, the ellipsoid for simulating three intersections in ablation areas image indicate combined simulation ablation areas, which can be used for Three-dimensional Display
The positional relationship of the combined simulation ablation areas of current ultrasonic section and setting in magnetic field space.The display child window can be shown
The intersection situation of the ultrasound image and combined simulation ablation areas, the intersecting area of the ultrasound image and simulation ablation areas
It is marked using profile or colour.The display child window can also be used in Three-dimensional Display ultrasound image and simulate ablation areas
Relative positional relationship.Generate simulation ablation areas figure in real time according to the ablation range of the ablation needle and the probe position information
When picture, Three-dimensional Display ultrasound image and simulation ablation areas in the same coordinate system；It can also show that multiple and different moment super simultaneously
Acoustic image and multiple simulation ablation areas；The relative position of probe, multiple simulations can also be shown by different display child windows
The joint ablation areas of ablation areas, the intersection situation for showing joint ablation areas and ultrasound image.
User can increase the intervention puncture path of display setting in Fig. 3.It is understood that simulation ablation areas figure
Simulation ablation areas as different simulation ablation needles can be identified using different colours from current ultrasonic image.And it can use
The dimension display technologies such as volume drawing (VR, Volume Rendering) or iso-surface patch (SSD, Surface Rendering) are come
Show 3D shape and ultrasound image.
As shown in Figure 5,6, display child window can show current ultrasonic section and with colour-coded current ultrasonic section and mould
The intersection 2 dimensional region of quasi- ablation areas.The colour-coded can be it is translucent, merge corresponding position on ultrasound image into
Row display.The boundary of intersecting area can also be only shown simultaneously.Above-mentioned real-time ultrasound section can be ultrasonic contrast image simultaneously,
For Dynamically Announce tumor perfusion situation.Tumor region can be effectively shown by carrying out ultrasonic contrast image to target area.
In tumour ablation treating, ablation areas will not only cover tumor region, and include the security boundary (border) of tumour.
As shown in fig. 6, for effectively display combined simulation ablation areas whether include tumour, calculate combined simulation ablation areas along boundary to
The region is defined as joint safety zone and with different color marks by the interior region for reducing certain distance.It so can be with base
Tumour ablation situation is assessed in the joint safety zone of joint ablation areas.If joint safety zone can cover tumor area
Domain, then tumour and tumour security boundary can necessarily be covered by combining ablation areas.Joint safety zone is calculated by joint ablation areas
The method in domain can there are many kinds of, for example, by using common corrosion image processing method, joint ablation areas is corroded a spacing
From boundary.The boundary normal vector of joint ablation areas can also be calculated, boundary certain distance boundary is then inwardly reduced.Operator
If the combined simulation ablation areas of assessment setting can not effectively cover tumour and tumour security boundary, operator may be selected to increase
Add ablation needle or modifies to the ablation needle path being set.
Step S104 stores the ultrasound image, simulation ablation areas image, probe position information and running parameter.?
In this step, the running parameter includes the power of the ablation needle of ablation operation, continues ablation time.Wherein, probe positions are believed
Breath can be obtained by locating module 40.Since locating module 40 is equipped with probe positioning unit 43,43 institute of positioning unit of popping one's head in
Physical space mapping matrix R of the space of expression relative to magnetic fieldiIt can obtain in real time.And image acquired in ultrasonic probe 10
Space reflection relationship relative to the probe positioning unit 43 can be obtained by the physics calibration that ultrasonic probe 10 is imaged,
It is defined as mapping matrix Ai.And guiding puncture line, simulation ablation needle and simulation ablation areas in image, in present image institute
Space coordinate in coordinate system is known in image imaging system.By mapping matrix Ri and Ai, simulation can be disappeared
Tabetisol domain be mapped to magnetic field in the coordinate in ultrasound image space where physical space, thus obtain simulation ablation areas in sky
Interior coordinate.Space among the above, can be magnetic field space, i.e., the multi-pass operation of the described ultrasonic probe 10 can map so far empty
Between, magnetic field space can be used in this space, the space of image definition or ultrasonic probe when setting ablation needle for the first time can also be used
Coordinate space where 10 need to only guarantee that each simulated operation and real-time ultrasound probe position can map so far that space is i.e.
It can.
In subsequent practical access ablation operation step, guidance operator disappears according to the ultrasound image that is stored, simulation
Tabetisol area image, probe position information and running parameter carry out interventional therapy.After the ablation effect for confirming planning, operator is guided
Interventional therapy is carried out along the intervention puncture path, for system according to probe positions when simulation inserting needle, guidance operator will be ultrasonic
Probe is set to the same orientation of tissue, and identical tangent plane picture when obtaining with simulation, auxiliary operation person is according to previous mould
Quasi- intervention puncture path carries out intervention ablation operation.Operator selects the intervention puncture path of a previous analog, and by aobvious
Show 25 real-time display of unit.
In this step, a display child window in the display area of the display unit 25 shows current section and selection
Intervention puncture path and it is expected that ablation areas intersection situation, show that stored setting is simulated in another display child window
Ultrasound image when ablation needle.Mobile current ultrasonic probe positions simulate ultrasonic probe and the intervention puncture path of selection
The position of ultrasonic probe is overlapped, and keeps realtime graphic consistent with storage image.
Operator can lead into the objects of tissue regions in conjunction with puncture supporter along guiding puncture bundle of lines ablation needle, and with
The intervention puncture path of previous analog essentially coincides, and completes a Route guiding.Repeating aforesaid operations can complete entirely to intervene
Link is guided, guidance operator carries out intervention ablation according to the intervention puncture path of planning.
The relative positional relationship of ultrasonic probe 10 and the ultrasonic probe 10 when simulation when by Three-dimensional Display practical operation,
The position of ultrasonic probe 10 when bootable operator is according to simulation, angle carry out practical operation.As shown in figure 4, can pass through
Display unit 25 shows the ultrasonic probe 10 that different colours identify two ultrasonic probes 10, when one of them is practical operation, separately
One be simulation when ultrasonic probe 10 position.When two ultrasonic probes 10 are overlapped, indicate that ultrasound when practical operation is visited
First 10 are moved into position.Corresponding tangent plane picture then is shown in a display child window of display unit 25, and operator can
Further to judge whether ultrasonic probe 10 moves in place referring to tangent plane picture.By guidance operator according to the inserting needle road of planning
Diameter completes intervention ablation operation, increases the success rate of single ablative surgery, effectively reduces the incomplete rebound phenomenon of ablation.
The simulation ablation areas of above-mentioned setting equally can confirm border ablation areas in intervention ablation posteriority, with setting
Simulate the difference of ablation areas.It is achieved in that after intervention ablation, ultrasonic contrast is carried out to human body.Operator imports setting
Ablation areas is simulated, and comparison is shown by display unit 25.
Intervention ablation simulation system of the invention and method, by the ultrasound image and the simulation zone of ablation that obtain destination organization
Area image simulates the inserting needle path of ablation needle, intervention puncture path, the depth, preset ablation range of ablation needle is set, convenient for drawing
Lead the operation of operator's intervention ablation.By the positioning to destination organization and ultrasonic probe, determine that ultrasonic probe and intervention puncture road
Diameter and the relative spatial co-ordinates relationship for simulating ablation range, and the ablation path of each ultrasound cross-section of real-time display and setting and
Simulate the intersection situation of ablation range.Intervention ablation simulation system of the invention and method operate intervention ablation with image shape
Formula is planned and is presented, and not only can be carried out clinical verification to the scheme of operator's Design, be can be used for simultaneously
Ablation effect estimation and evaluation are carried out to the ablation needle for being already inserted into human body, and practical ablation effect is verified in assessment.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, those skilled in the art can understand all or part of the processes for realizing the above embodiment, and weighs according to the present invention
Benefit requires made equivalent variations, still belongs to the scope covered by the invention.
Claims (10)
1. a kind of intervention ablation simulation system, it is characterised in that: including ultrasonic probe, locating module, analog module,
The ultrasonic probe includes,
Ultrasonic Transmit-Receive Unit for emitting ultrasonic pulse, and receives echo information of the ultrasonic pulse in destination organization；
Control unit is connected to the ultrasonic Transmit-Receive Unit of the ultrasonic probe, for controlling the ultrasonic Transmit-Receive Unit transmitting institute
It states ultrasonic pulse, receive the echo information；
Imaging unit is connected to the ultrasonic Transmit-Receive Unit of the ultrasonic probe, generates for handling the echo information described
The ultrasound image of destination organization；
The locating module is for obtaining probe position information and the probe position information being sent to analogue unit, the spy
Head location information is used to indicate position and direction of the ultrasonic probe relative to destination organization；
The analog module includes,
Input unit, for inputting the running parameter of ablation operation, the running parameter is for generating simulation ablation range；
Analogue unit is connected to the input unit, probe position information for being obtained according to the locating module and described
The running parameter of input unit input generates simulation ablation areas image；
Wherein, the probe position information obtained according to the locating module and the running parameter of input unit input are raw
It include: the probe position information obtained when the ultrasonic probe is mobile according to the locating module at simulation ablation areas image
The inserting needle position of simulation ablation operation, and the running parameter inputted according to the input unit are chosen, simulation ablation areas is generated
Image；
Display unit is connected to the imaging unit and the analogue unit, for showing the ultrasound image of the destination organization
And the simulation ablation areas image.
2. intervention ablation simulation system as described in claim 1, which is characterized in that it is single that the analog module is additionally provided with storage
Member, the storage unit are connected to the imaging unit and the analogue unit, for storing the ultrasound image, simulation ablation
Area image, probe position information and running parameter.
3. intervention ablation simulation system as claimed in claim 1 or 2, which is characterized in that the locating module is fixed using optics
Position device or magnetic field positioning apparatus.
4. intervention ablation simulation system as described in claim 1, which is characterized in that the display unit, which is equipped with, shows sub- window
Mouthful, the intersection situation that the display child window is used to show the ultrasound image and simulate ablation areas image.
5. intervention ablation simulation system as claimed in claim 4, which is characterized in that the ultrasound image and simulation ablation areas
The intersecting area of image is marked using profile or colour.
6. intervention ablation simulation system as described in claim 1, which is characterized in that the display unit, which is equipped with, shows sub- window
Mouthful, relative positional relationship of the display child window for Three-dimensional Display ultrasound image and simulation ablation areas image.
7. intervention ablation simulation system as described in claim 1, which is characterized in that input unit, for inputting ablation operation
Running parameter, the running parameter includes the power of the ablation needle of ablation operation, continues ablation time, and the running parameter is used
Ablation range is simulated in generating；
The analogue unit is connected to the input unit, and the probe position information setting for being obtained according to locating module disappears
Melt intervention puncture path, the depth of needle of needle, and model is melted according to the simulation that the running parameter of input unit input generates
It encloses, generates simulation ablation areas image.
8. intervention ablation simulation system as claimed in claim 7, which is characterized in that the analogue unit, it is described for choosing
The intervention puncture path of ablation needle and when the depth of needle of the ablation needle is set, the guiding puncture line direction in ultrasound image
Set the depth of needle of ablation needle.
9. intervention ablation simulation system as described in claim 1, which is characterized in that the display unit, which is equipped with, shows sub- window
Mouthful, the display child window is used for when the ultrasound image and simulation ablation areas image for comparing the destination organization, by not
Same display child window shows the joint ablation areas of multiple simulation ablation areas.
10. intervention ablation simulation system as claimed in claim 9, which is characterized in that the display child window is used for when comparison
When the ultrasound image and simulation ablation areas image of the destination organization, the joint ablation areas and the ultrasound image are shown
Intersection situation.
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