CN112315579B - Electrode needle distribution device and method based on focus area - Google Patents
Electrode needle distribution device and method based on focus area Download PDFInfo
- Publication number
- CN112315579B CN112315579B CN202011345756.1A CN202011345756A CN112315579B CN 112315579 B CN112315579 B CN 112315579B CN 202011345756 A CN202011345756 A CN 202011345756A CN 112315579 B CN112315579 B CN 112315579B
- Authority
- CN
- China
- Prior art keywords
- ablation
- needle
- region
- candidate
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title abstract description 22
- 238000002679 ablation Methods 0.000 claims abstract description 255
- 238000011156 evaluation Methods 0.000 claims abstract description 103
- 230000010354 integration Effects 0.000 claims abstract description 5
- 230000003902 lesion Effects 0.000 claims description 111
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000011298 ablation treatment Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000013188 needle biopsy Methods 0.000 description 2
- 238000011282 treatment Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00577—Ablation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1405—Electrodes having a specific shape
- A61B2018/1425—Needle
- A61B2018/143—Needle multiple needles
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Plasma & Fusion (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Otolaryngology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention relates to a focus area-based electrode needle distribution device and a focus area-based electrode needle distribution method, wherein the device comprises: the collection acquisition module is used for acquiring a candidate card distribution point collection based on an original focus area; the factor acquisition module is used for acquiring an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the current focus area and recording the ablation needle group corresponding to the maximum effective evaluation factor; the area updating module is used for updating the current focus area based on an ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor so as to obtain the effective evaluation factor and record the corresponding ablation needle group, and the operation of updating the current focus area is continuously executed until the current focus area is zero; and the needle group integration module is used for integrating all recorded ablation needle groups as an optimal needle distribution combination. The scheme of the embodiment of the invention can achieve the effect of completely ablating the focus area, and simultaneously has the minimum needle number and the minimum additional ablation area.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to an electrode needle distribution device and method based on a focus area.
Background
Research has found that cancer has become one of the major diseases that endanger human health. Ablation treatment of lesion areas using pulsed electric field ablation techniques has achieved a promising advance. When ablation treatment is carried out, when a focus area is large, complete ablation cannot be achieved only by adopting two electrode needles (namely a group of electrode needles), at the moment, a plurality of electrode needles are required to be adopted for combined ablation, namely a plurality of electrode needles are inserted into the focus area, and then ablation is carried out by taking the two electrode needles as a group. For the condition of adopting a plurality of electrode needles to carry out combined ablation, the current traditional focus ablation needle distribution has two schemes: a needle distribution scheme adopting a surrounding center type is mainly suitable for larger lesions, and particularly comprises the following steps: arranging an electrode needle at the center of the lesion, and then arranging 3-4 electrode needles around the electrode needle, wherein the 3-4 peripheral electrode needles are near the edge of the lesion; the other scheme adopts a filling type needle distribution scheme which is mainly suitable for small focuses or strip focuses, and generally, electrode needles are uniformly distributed in the focuses in a manner of clinging to the focuses.
However, since the lesion of the patient is different, the needle arrangement generally depends on the experience of the doctor, and the subjectivity is strong, which may cause that the needle arrangement scheme adopted for the patient cannot completely ablate the lesion region of the patient, so that the ablation effect is not good, it is necessary to develop an automatic ablation needle arrangement scheme to obtain the best ablation effect.
Disclosure of Invention
In order to solve the technical problem of poor ablation effect, the embodiment of the invention provides an electrode needle distribution device and method based on a focus area.
In a first aspect of the present invention, there is provided a lesion region-based electrode needle distribution device, comprising:
the collection acquisition module is used for acquiring a candidate card distribution point collection based on an original focus area, and taking the original focus area as a current focus area;
the factor acquisition module is used for acquiring an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the current focus area and recording the ablation needle group corresponding to the maximum effective evaluation factor;
the area updating module is used for updating the current focus area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor so that the factor acquiring module can acquire the effective evaluation factor of the ablation needle group formed by any two candidate needle distribution points in the candidate needle distribution point set again based on the current focus area and record the ablation needle group corresponding to the maximum effective evaluation factor, and the area updating module updates the current focus area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor again until the current focus area is zero; and the number of the first and second groups,
and the needle group integration module is used for integrating the ablation needle groups corresponding to the maximum effective evaluation factors of all records to serve as the optimal needle distribution combination.
In certain embodiments, the set of candidate card wiring points comprises: the first needle distribution points are positioned in the original focus area, and the second needle distribution points which meet the candidate conditions and are positioned outside the original focus area.
In certain embodiments, the candidate conditions include: and the distance between the first needle distribution point adjacent to the original focus area and the original focus area is within a preset range.
In some embodiments, the criterion that the distance from the primary lesion area is within a predetermined range includes: and a connecting line between the original focal region and the adjacent first needle distribution point, wherein the length of the connecting line in the original focal region is greater than the length of the connecting line outside the original focal region, or the ratio of the length of the connecting line in the original focal region to the length of the connecting line outside the original focal region is greater than a threshold value.
In some embodiments, the factor obtaining module includes:
the first obtaining sub-module is used for obtaining an ablation region corresponding to an ablation needle group consisting of any two candidate needle arranging points;
the second acquisition sub-module is used for acquiring an overlapping region of the ablation region and the current focus region;
a third obtaining submodule, configured to obtain an effective ablation ratio based on a region proportion of the overlap region in the ablation region; and the number of the first and second groups,
and the fourth obtaining sub-module is used for obtaining an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the obtained ablation region and the obtained effective ablation ratio.
In some embodiments, the fourth obtaining sub-module obtains an effective evaluation factor of an ablation needle group composed of any two candidate needle distribution points in the candidate needle distribution point set based on the obtained ablation region and the obtained effective ablation ratio, including: the effective evaluation factor is obtained by using the formula c ═ w × (1-w) × s, where c denotes the effective evaluation factor, w denotes the weighting factor, r denotes the effective ablation ratio, and s denotes the ablation region.
In some embodiments, the area updating module updates the current lesion area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor, including:
and deleting the ablation region formed by the ablation needle group corresponding to the maximum effective evaluation factor in the current lesion region before updating, wherein the deleted lesion region is used as the current lesion region after updating.
In a second aspect of the present invention, there is provided a lesion region-based electrode needle distribution method, comprising:
acquiring a candidate needle distribution point set based on an original focus area, and taking the original focus area as a current focus area;
based on the current lesion area, obtaining an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set, and recording the ablation needle group corresponding to the maximum effective evaluation factor;
updating the current focus area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor, so as to obtain the effective evaluation factor of the ablation needle group formed by any two candidate needle distribution points in the candidate needle distribution point set based on the current focus area again, record the ablation needle group corresponding to the maximum effective evaluation factor, and update the current focus area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor again until the current focus area is zero; and the number of the first and second groups,
and integrating the ablation needle groups corresponding to the maximum effective evaluation factors of all records to serve as the optimal needle distribution combination.
In certain embodiments, the set of candidate card wiring points comprises: the first needle distribution points are positioned in the original focus area, and the second needle distribution points which meet the candidate conditions and are positioned outside the original focus area.
In certain embodiments, the candidate conditions include: and the distance between the first needle distribution point adjacent to the original focus area and the original focus area is within a preset range.
In some embodiments, the criterion that the distance from the primary lesion area is within a predetermined range includes: and a connecting line between the original focal region and the adjacent first needle distribution point, wherein the length of the connecting line in the original focal region is greater than the length of the connecting line outside the original focal region, or the ratio of the length of the connecting line in the original focal region to the length of the connecting line outside the original focal region is greater than a threshold value.
In some embodiments, the obtaining an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set includes:
acquiring an ablation region corresponding to an ablation needle group consisting of any two candidate needle arranging points;
acquiring an overlapping region of the ablation region and the current focus region;
obtaining an effective ablation ratio based on a region proportion of the overlapping region in the ablation region; and the number of the first and second groups,
and acquiring an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the acquired ablation region and the acquired effective ablation ratio.
In some embodiments, the obtaining an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the obtained ablation region and the obtained effective ablation ratio includes: the effective evaluation factor is obtained by using the formula c ═ w × (1-w) × s, where c denotes the effective evaluation factor, w denotes the weighting factor, r denotes the effective ablation ratio, and s denotes the ablation region.
In some embodiments, the updating the current lesion area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor includes:
and deleting the ablation region formed by the ablation needle group corresponding to the maximum effective evaluation factor in the current lesion region before updating, wherein the deleted lesion region is used as the current lesion region after updating.
The invention has the beneficial effects that: the electrode needle arrangement device and the method based on the focus area provided by the embodiment of the invention can achieve the effect of completely ablating the focus area, and simultaneously have the minimum needle number and the minimum extra ablation area.
Drawings
Fig. 1 is a schematic structural view illustrating a lesion region-based electrode needle distribution device according to an embodiment of the present invention;
fig. 2a shows a reference diagram of an example original lesion area in a lesion area-based electrode needle distribution scheme proposed by an embodiment of the present invention;
FIG. 2b is a schematic diagram illustrating the determination of candidate needle layout points in a lesion area-based electrode needle layout scheme according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an ablation region formed by an ablation needle group corresponding to a maximum effective evaluation factor in a lesion region-based electrode needle arrangement scheme according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a lesion area-based electrode needle distribution method according to an embodiment of the present invention; and the number of the first and second groups,
fig. 5 shows another flowchart of a lesion area-based electrode needle distribution method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. Those skilled in the art will appreciate that the present invention is not limited to the drawings and the following examples.
As used herein, the term "include" and its various variants are to be understood as open-ended terms, which mean "including, but not limited to. The term "based on" may be understood as "based at least in part on". The term "one embodiment" may be understood as "at least one embodiment". The term "another embodiment" may be understood as "at least one other embodiment".
As described above, since the lesion of a patient is different, and needle arrangement generally depends on the experience of a doctor, and is highly subjective, the adopted needle arrangement scheme may not completely ablate the lesion of the patient, and thus, the embodiment of the present invention provides an electrode needle arrangement device and method based on the lesion region.
Embodiments of the present invention are further described below with reference to the accompanying drawings. Fig. 1 shows a schematic structural view of a lesion region-based electrode needle distribution apparatus according to an embodiment of the present invention, the apparatus including:
the collection acquisition module is used for acquiring a candidate card distribution point collection based on an original focus area, and taking the original focus area as a current focus area;
the factor acquisition module is used for acquiring an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the current focus area and recording the ablation needle group corresponding to the maximum effective evaluation factor;
the area updating module is used for updating the current focus area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor so that the factor acquiring module can acquire the effective evaluation factor of the ablation needle group formed by any two candidate needle distribution points in the candidate needle distribution point set again based on the current focus area and record the ablation needle group corresponding to the maximum effective evaluation factor, and the area updating module updates the current focus area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor again until the current focus area is zero; and the number of the first and second groups,
and the needle group integration module is used for integrating the ablation needle groups corresponding to the maximum effective evaluation factors of all records to serve as the optimal needle distribution combination.
The embodiment of the invention starts from the original focus area and the candidate needle distribution points, and gradually selects the current optimal ablation needle group by using the effective evaluation factors, thereby achieving the effect of completely ablating the focus area, and simultaneously minimizing the number of needles and the additional ablation area.
In an embodiment of the present invention, the original lesion region may be obtained by existing means such as ultrasound, magnetic resonance, needle biopsy, and the like. For example, the original lesion area is determined by combining the magnetic resonance data with the results of the needle biopsy with ultrasound images. To characterize the coverage of the primary lesion area, in one embodiment, the primary lesion area may be mapped into a reference coordinate system labeled with needle placement points, each needle placement pointThe method has fixed coordinate positions and coordinate names, so that the original focus area is mapped into a reference coordinate system marked with the needle distribution points, and the needle distribution points covered by the original focus area can be accurately and conveniently acquired. Meanwhile, each card distribution point has a fixed coordinate position, so that the distance between any two card distribution points can be obtained, or the card distribution points can be arranged at equal intervals, so that the distances between adjacent card distribution points are equal, the distance between any two card distribution points can also be obtained, and based on the distance, the adjacent card distribution points outside the original focus area can be accurately obtained. Taking the example of the equal spacing of the card layout points, the distance D between any two card layout points can be expressed as:
wherein d is the distance between two adjacent card clothing points, NyIndicates the number of spaced points of any two card laying points in the y direction, NxThe number of spaced points of any two card laying points in the x direction is shown. It will be appreciated that if the distance d between two adjacent clothing points is not known in advance, then only the coordinates of any two clothing points need to be calibrated, and the number N of spaced points of any two clothing points in the y direction is usedyAnd the number N of spacing points of any two card distribution points in the x directionxThe distance D between two adjacent card distribution points can be calculated according to the expression of the distance D, and the coordinate value of any card distribution point can be obtained according to the distance D between the two adjacent card distribution points. It will be appreciated that the reference coordinate system may be an XY coordinate system, or may be another coordinate system in which the clothing points are clearly expressed. Therefore, the original focus area is mapped to the reference coordinate system marked with the card distribution points, and the coordinate value of any card distribution point can be obtained, so that the coordinate position of any card distribution point can be obtained, and the distance between any two card distribution points can also be obtained. Fig. 2a shows an example of mapping of the original lesion area into the reference coordinate system, and as can be seen from the figure, the coordinate name of the needle point at the lower left corner may be A1, and the coordinate names of the needle points at the first column from left to right are A1, a1.5, A2, a2.5, A3, and …, respectively, from bottom to top. It will be appreciated that in some cases, the coordinate locations of the clothing points may also be known by their coordinate names orThe coordinate value, or the relative coordinate position or the relative coordinate value, for example, when the card distribution points are arranged at equal intervals, the relative coordinate position or the relative coordinate value can be obtained according to the expression of the distance D, and when the coordinates of any two card distribution points are calibrated, the coordinate value and the coordinate position of any card distribution point can be obtained. It will be appreciated that other ways of characterizing the coverage of the original lesion area may also be employed by those skilled in the art.
The set acquisition module may acquire a set of candidate card layout points according to the card layout points covered by the original lesion area and the neighboring card layout points outside the original lesion area. In one embodiment, the set of candidate card wiring points comprises: a first needle placement point located within the original focal zone. The first needle arrangement points located in the original lesion area include needle arrangement points completely located in the original lesion area and also include needle arrangement points overlapped with the boundary of the original lesion area, so that the first needle arrangement points can also be understood as needle arrangement points covered by the original lesion area. When the first needle layout point is determined, the judgment can be carried out by judging whether the coordinates of the needle layout point are positioned in the original lesion area, and if the coordinates of the current needle layout point are positioned in the original lesion area, the current needle layout point is determined to be the first needle layout point and can be stored in the candidate needle layout point set as the candidate needle layout point. Judging whether the coordinates of the needle-laying points are located in the original focal region, a person skilled in the art can adopt the known technology to judge, and the judgment is not repeated herein because the judgment is not the main aspect of the invention. Referring to the example of fig. 2a, the portion enclosed by the solid line in the figure represents the original lesion area, the black dots represent the labeled needle layout points, a, B, … …, etc. indicate the coordinate names in the x direction, 1, 2, 3, … …, etc. indicate the coordinate names in the y direction, and to avoid confusion, the coordinate name 1.5 between the numbers 1 and 2 is not labeled, and the coordinate names between the remaining numbers are also treated as such. For the case shown in fig. 2a, the needle arrangement points a1.5, B1.5, a2, B2, a2.5, B2.5, a3, B3, and B3 are all located in the original lesion area, belong to the first needle arrangement point, and can be stored as candidate needle arrangement points in the candidate needle arrangement point set, so the candidate needle arrangement point set a including the first needle arrangement point can be expressed as { a1.5, B1.5, a2, B2, a2.5, B2.5, a3, B3, B3}, and there are 10 first needle arrangement points in total.
To ensure that the lesion is completely ablated, the outer clothed points near the contour of the lesion may also be included in the candidate clothed point set, and thus, the candidate clothed point set may further include: a second card distribution point outside the original lesion area meeting the candidate condition. In one embodiment, the candidate conditions include: and the distance between the first needle distribution point adjacent to the original focus area and the original focus area is within a preset range. When the second stitch point is determined, it can be judged by the candidate condition. In an alternative embodiment, the criterion that the distance from the primary lesion area is within a predetermined range includes: the length of a connecting line between the adjacent first needle distribution points in the original focal region is longer than the length of the connecting line outside the original focal region, or the ratio of the length of the connecting line between the adjacent first needle distribution points in the original focal region to the length of the connecting line outside the original focal region is longer than a threshold value.
For ease of understanding, one implementation of determining the second stitch point is illustrated, but such illustration should not be construed as limiting the embodiments of the invention. Before the description, it is necessary to explain the meaning of the neighboring clothed points of the clothed points, and in the schematic diagram shown in fig. 2a, the four clothed points of the upper, lower, left and right sides of the clothed points may be regarded as the neighboring clothed points of the clothed points, and in addition, the four clothed points of the upper left, upper right, lower left and lower right sides of the clothed points may also be regarded as the neighboring clothed points of the clothed points. Of course, in practical applications, the range covered by the adjacent card layout points of the card layout points can be enlarged or reduced according to practical situations.
The method for determining the second card wiring point can comprise the following steps: selecting a first card arranging point from the candidate card arranging point set, taking the first card arranging point as a current first card arranging point, judging whether each adjacent card arranging point of the current first card arranging point is in the candidate card arranging point set, and if so, abandoning the certain adjacent card arranging point; if not, connecting the certain adjacent needle distribution point with the current first needle distribution point by using a line segment, judging whether the length of the line segment in the original focal region is greater than the length outside the original focal region or not, or judging whether the ratio of the length of the line segment in the original focal region to the length outside the original focal region is greater than a threshold value or not, if so, indicating that the distance between the certain adjacent needle distribution point and the original focal region is within a preset range, determining the certain adjacent needle distribution point as a second needle distribution point, and storing the second needle distribution point as a candidate needle distribution point in a candidate needle distribution point set, if not, indicating that the distance between the certain adjacent needle distribution point and the original focal region is not within the preset range, and abandoning the certain adjacent needle distribution point;
and after all adjacent card clothing points of the current first card clothing point are judged, selecting another first card clothing point which is not judged from the candidate card clothing point set, taking the first card clothing point as the current first card clothing point, and carrying out the judgment operation until all the first card clothing points are traversed.
In an optional embodiment, the length of the line segment located in the original focal region and the length of the line segment located outside the original focal region may be measured by using pixels, and the length located in the original focal region is characterized by how many pixels in the line segment belong to the original focal region and how many pixels do not belong to the original focal region. If the number of pixels belonging to the original lesion area is greater than the number of pixels not belonging to the original lesion area, or the ratio of the two numbers is greater than the threshold, the certain adjacent card layout point belongs to an outer card layout point which is particularly close to the original lesion area, and the certain adjacent card layout point can be determined as a second card layout point and is stored in the candidate card layout point set as a candidate card layout point. At this time, all the needle layout points stored in the candidate needle layout point set can be used as candidate needle layout points.
As can be seen with reference to fig. 2B, assuming that the first clothing point B3 is the current first clothing point and the four clothing points above, below, to the left and to the right of the current first clothing point are the adjacent clothing points, and the 4 adjacent clothing points of the first clothing point B3 are clothing points B3, B2.5, C3 and B3.5, according to the method of determining the second clothing point described above, clothing point B3 is discarded because clothing point B3 already belongs to the clothing point set; and the card distribution point b2.5 belongs to the outer card distribution point of the original lesion area, the card distribution point b2.5 is connected with the first card distribution point b3 which is the current first card distribution point, the pixels on the connecting line are counted, the number of the outer pixels which do not belong to the number of the pixels of the original lesion area is found to be more than the number of the pixels which belong to the original lesion area, so the card distribution point b2.5 is abandoned, and by analogy, the card distribution point C3 is abandoned, the card distribution point b3.5 is determined to be the second card distribution point, and the second card distribution point can be stored in a candidate card distribution point set as a candidate card distribution point. And then continues to determine another first clothing point according to the above rule. It can be seen that the second layout points stored in the candidate layout point set are the layout points A2, a2.5, a1, B1, B3.5, B2, B2.5, B3.5, and as shown by the black dots with dotted boxes in fig. 2B, there are 8 second layout points in total, plus the aforementioned 10 first layout points, so that the candidate layout point set has 18 layout points at this time, which can be expressed as:
{a1.5,B1.5,b1.5,a2,B2,a2.5,B2.5,a3,B3,b3,A2,A2.5,a1,B1,B3.5,b2,b2.5,b3.5}。
in the embodiment of the invention, the factor acquisition module acquires an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the current lesion area, and records the ablation needle group corresponding to the maximum effective evaluation factor, so as to find the optimal ablation needle group for the current lesion area. If a plurality of maximum effective evaluation factors exist, one of the maximum effective evaluation factors can be randomly selected, and the ablation needle group corresponding to the maximum effective evaluation factor selected randomly is recorded. The effective evaluation factor is used for representing the ablation effectiveness of the ablation needle group and belongs to quantifiable parameters. Specifically, the matching degree between the ablation region formed by the ablation needle group consisting of two candidate needle placement points and the current lesion region can be represented for the same current lesion region, and if the effective evaluation factor is larger, the ablation efficiency of the ablation needle group is higher, and the matching degree between the ablation region formed by the ablation needle group and the current lesion region is larger.
In one embodiment, the effective ablation ratio and/or the ablation region may be used to obtain an effective evaluation factor, wherein the effective ablation ratio is used to characterize the ablation efficiency of the ablation region relative to the current lesion region, and the electrode needles arranged at smaller intervals generally have a larger effective ablation ratio, but this means that more electrode needles need to be arranged, which may increase the pain and the risk of complications for the patient and may cause economic waste. The ablation area intuitively represents the ablation condition of the ablation needle group, and if the ablation area is larger, more normal areas outside the current focus area can be eliminated, so that over-treatment is caused. When judging the ablation efficiency of an ablation needle group, if only the size of an ablation region is considered, excessive normal regions outside the current lesion region can be eliminated, so that over-treatment is caused; if only the effective ablation ratio is considered, it may cause over-distribution of needles, thereby increasing the potential for complications and economic waste.
To more scientifically and reasonably deploy the needle, in one embodiment, an effective ablation ratio and an ablation zone are employed to obtain an effective evaluation factor. The factor obtaining module comprises:
the first obtaining sub-module is used for obtaining an ablation region corresponding to an ablation needle group consisting of any two candidate needle arranging points;
the second acquisition sub-module is used for acquiring an overlapping region of the ablation region and the current focus region;
a third obtaining submodule, configured to obtain an effective ablation ratio based on a region proportion of the overlap region in the ablation region; and the number of the first and second groups,
and the fourth obtaining sub-module is used for obtaining an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the obtained ablation region and the obtained effective ablation ratio.
And the first obtaining sub-module obtains an ablation area corresponding to an ablation needle group consisting of any two candidate needle distribution points selected from the candidate needle distribution point set after the candidate needle distribution point set is obtained. In an alternative embodiment, the corresponding ablation regions may be obtained from the coordinates of the two candidate stitch points of the ablation stitch group (or the stitch spacing), and the specific obtaining method may refer to the existing or previous applications of the present applicant, for example, applications nos. 202010302357.0 and 202010301885.4, i.e., after obtaining the patient conductivity ratio R, the fitting function Eth 1E + b 1N + c 1R + D1E + N + E1E + R + f 1N R + g 1E N + R + h1 or the fitting function Eth 2U + b 2N + c 2D + 369D 368672, to find the electric field intensity ablation threshold Eth of the current patient, and then to determine the ablation region of the current patient based on Eth. Since the specific acquisition method is not a main aspect of the embodiment of the present invention, it is not described herein again.
In an alternative embodiment, the ablation region may be represented by pixels, and the second obtaining sub-module may count how many pixels in the ablation region are within the current focal region and how many pixels are outside the current focal region, thereby obtaining the size of the ablation region and the size of the overlapping region of the ablation region and the current focal region; the third obtaining submodule obtains an effective ablation ratio according to a region proportion of the overlapping region in the ablation region, wherein the expression of the effective ablation ratio is as follows:
wherein r represents the effective ablation ratio, sinRepresenting the number of pixels, s, of the ablation zone within the current focal zoneoutIs the number of pixels of the ablation region outside the current focal zone, if s is used to represent the ablation region, then sin+soutS, so by the ratio of the sizes of the overlap region and the ablation region, an effective ablation ratio can be obtained; the fourth obtaining module obtains an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the obtained ablation region and the obtained effective ablation ratio,the method comprises the following steps: the effective evaluation factor is obtained by using the formula c ═ w × (1-w) × s, where c denotes the effective evaluation factor, w denotes the weighting factor, r denotes the effective ablation ratio, and s denotes the ablation region. The value range of the weight factor w is [0,1 ]]If the weighting factor w is greater than 0.5, then the effective ablation ratio is biased into consideration; if the weighting factor w is less than 0.5, then the ablation area is biased into account. In an alternative embodiment, the default value of the weighting factor w may be set to 0.5, i.e. the effective ablation ratio and the ablation area are weighted the same, and the value of the weighting factor w may be reset according to actual conditions during actual use. In addition, the effective evaluation factor corresponding to each ablation needle group can be recorded, or further the weighting factor corresponding to each effective evaluation factor can be recorded.
After obtaining effective evaluation factors of an ablation needle group consisting of any two candidate needle distribution points based on the current lesion area, the effective evaluation factors can be sorted according to the size of the effective evaluation factors, and the factor obtaining module records the ablation needle group corresponding to the maximum effective evaluation factor, for example, the ablation needle group is recorded as an ablation needle group 1. The area updating module updates the current focus area according to the ablation area formed by the ablation needle group 1. After the area updating module updates the current lesion area, the factor obtaining module obtains an effective evaluation factor of an ablation needle group formed by any two candidate needle distribution points in the candidate needle distribution point set again based on the current lesion area, and records an ablation needle group 2 corresponding to the maximum effective evaluation factor, and the area updating module updates the current lesion area again based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor, and the operation is repeated until the current lesion area is zero, so that the ablation needle group 1, the ablation needle group 2, … …, and the ablation needle group n can be obtained step by step, and generally, n is greater than or equal to 1. The needle group integration module integrates the recorded ablation needle group 1, ablation needle group 2, … … and ablation needle group n as an optimal needle distribution combination.
In one embodiment, the area updating module updates the current lesion area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor, including: current before updateAnd deleting the ablation region formed by the ablation needle group corresponding to the maximum effective evaluation factor in the previous lesion region, and taking the deleted lesion region as the updated current lesion region. The deletion may be also understood as updating a portion of the current lesion area before updating, which overlaps with the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor, to be a non-lesion area, and using the remaining lesion area as the current lesion area after updating. For convenience of understanding, it can be referred to fig. 3, in which a dashed circle filled with a horizontal line is shown as an ablation region formed by the ablation needle group corresponding to the maximum effective evaluation factor, and assuming that the situation shown in fig. 3 is a first update, the original lesion region is regarded as a current lesion region, and after deleting a region shown by the dashed circle in the figure, a remaining region of the original lesion region is an updated current lesion region, or it can be considered that a portion of the original lesion region overlapping with the region shown by the dashed circle in the figure is updated to be a non-lesion region, and the remaining lesion region is regarded as an updated current lesion region. And after the current lesion area is updated, continuing the next operation of factor acquisition and area updating until the current lesion area is zero. It can be understood that, if the ablation area of a certain group of ablation needle sets overlaps with the ablation area (if any) formed by the ablation needle set corresponding to the maximum effective evaluation factor of the previous time, after the current lesion area is updated, the number s of pixels of the ablation area of the certain group of ablation needle sets in the current lesion areainThe value of the effective ablation ratio r is decreased, and the effective evaluation factor is decreased without changing the weighting factor w, so that the certain ablation needle group is less likely to be selected into the optimal arrangement combination.
An embodiment of the present invention further provides a lesion area-based electrode needle distribution method, which is shown in fig. 4 and includes:
acquiring a candidate needle distribution point set based on an original focus area, and taking the original focus area as a current focus area;
based on the current lesion area, obtaining an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set, and recording the ablation needle group corresponding to the maximum effective evaluation factor;
updating the current focus area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor, so as to obtain the effective evaluation factor of the ablation needle group formed by any two candidate needle distribution points in the candidate needle distribution point set based on the current focus area again, record the ablation needle group corresponding to the maximum effective evaluation factor, and update the current focus area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor again until the current focus area is zero; and the number of the first and second groups,
and integrating the ablation needle groups corresponding to the maximum effective evaluation factors of all records to serve as the optimal needle distribution combination.
The electrode needle arrangement method provided by the embodiment of the invention starts from an original focus area and candidate needle arrangement points, and gradually selects the current optimal ablation needle group by using effective evaluation factors, so that the effect of completely ablating the focus area can be achieved, and meanwhile, the number of needles is minimum and the additional ablation area is minimum.
In one embodiment, after the step of updating the current lesion area based on the ablation region formed by the ablation needle group corresponding to the maximum effective evaluation factor is performed, if the current focus area is not zero, returning to the step of obtaining the effective evaluation factor of the ablation needle group formed by any two candidate needle distribution points in the candidate needle distribution point set based on the current focus area, and recording the ablation needle group corresponding to the maximum effective evaluation factor to continue executing, and the step of updating the current lesion area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor is executed again until the current lesion area is zero, the loop operation is ended, and then the ablation needle group corresponding to the maximum effective evaluation factor of all the records is executed as the optimal needle arrangement combination, which can be referred to in fig. 5.
In one embodiment, the set of candidate card wiring points comprises: the first needle distribution points are positioned in the original focus area, and the second needle distribution points which meet the candidate conditions and are positioned outside the original focus area.
In an alternative embodiment, the candidate conditions include: and the distance between the first needle distribution point adjacent to the original focus area and the original focus area is within a preset range.
Further, in an embodiment, the criterion that the distance from the primary lesion area is within a preset range includes: and a connecting line between the original focal region and the adjacent first needle distribution point, wherein the length of the connecting line in the original focal region is greater than the length of the connecting line outside the original focal region, or the ratio of the length of the connecting line in the original focal region to the length of the connecting line outside the original focal region is greater than a threshold value.
In one embodiment, the obtaining an effective evaluation factor of an ablation needle group composed of any two candidate needle distribution points in the candidate needle distribution point set includes:
acquiring an ablation region corresponding to an ablation needle group consisting of any two candidate needle arranging points;
acquiring an overlapping region of the ablation region and the current focus region;
obtaining an effective ablation ratio based on a region proportion of the overlapping region in the ablation region; and the number of the first and second groups,
and acquiring an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the acquired ablation region and the acquired effective ablation ratio.
In an optional embodiment, the obtaining an effective evaluation factor of an ablation needle group composed of any two candidate needle distribution points in the candidate needle distribution point set based on the obtained ablation region and the obtained effective ablation ratio includes: the effective evaluation factor is obtained by using the formula c ═ w × (1-w) × s, where c denotes the effective evaluation factor, w denotes the weighting factor, r denotes the effective ablation ratio, and s denotes the ablation region.
In one embodiment, the updating the current lesion area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor includes:
and deleting the ablation region formed by the ablation needle group corresponding to the maximum effective evaluation factor in the current lesion region before updating, wherein the deleted lesion region is used as the current lesion region after updating.
For the sake of brevity, the same or similar technical contents as those of the aforementioned electrode needle distribution device based on the lesion area may be referred to in the description of the aforementioned electrode needle distribution device based on the lesion area, and also the description of the electrode needle distribution device based on the lesion area may be referred to in the description of the electrode needle distribution method based on the lesion area provided in the embodiments of the present invention, which is not repeated herein.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiment. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An electrode needle arrangement device based on a lesion area, comprising:
the collection acquisition module is used for acquiring a candidate card distribution point collection based on an original focus area, and taking the original focus area as a current focus area;
the factor acquisition module is used for acquiring an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the current lesion area, wherein the effective evaluation factor is used for representing the ablation effectiveness of the ablation needle group; recording the ablation needle group corresponding to the maximum effective evaluation factor;
the area updating module is used for updating the current focus area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor so that the factor acquiring module can acquire the effective evaluation factor of the ablation needle group formed by any two candidate needle distribution points in the candidate needle distribution point set again based on the current focus area and record the ablation needle group corresponding to the maximum effective evaluation factor, and the area updating module updates the current focus area based on the ablation area formed by the ablation needle group corresponding to the maximum effective evaluation factor again until the current focus area is zero; and the number of the first and second groups,
and the needle group integration module is used for integrating the ablation needle groups corresponding to the maximum effective evaluation factors of all records to serve as the optimal needle distribution combination.
2. The apparatus of claim 1, wherein the set of candidate card wiring points comprises: the first needle distribution points are positioned in the original focus area, and the second needle distribution points which meet the candidate conditions and are positioned outside the original focus area.
3. The apparatus of claim 2, wherein the candidate conditions comprise: and the distance between the first needle distribution point adjacent to the original focus area and the original focus area is within a preset range.
4. The apparatus of claim 3, wherein the criterion that the distance from the primary lesion area is within a predetermined range comprises: and a connecting line between the original focal region and the adjacent first needle distribution point, wherein the length of the connecting line in the original focal region is greater than the length of the connecting line outside the original focal region, or the ratio of the length of the connecting line in the original focal region to the length of the connecting line outside the original focal region is greater than a threshold value.
5. The apparatus of claim 1, wherein the factor obtaining module comprises:
the first obtaining sub-module is used for obtaining an ablation region corresponding to an ablation needle group consisting of any two candidate needle arranging points;
a second obtaining sub-module, configured to obtain an overlapping region of the obtained ablation region and the current lesion region;
a third obtaining submodule, configured to obtain an effective ablation ratio based on a region proportion of the overlap region in the obtained ablation region; and the number of the first and second groups,
and the fourth obtaining sub-module is used for obtaining an effective evaluation factor of an ablation needle group consisting of any two candidate needle distribution points in the candidate needle distribution point set based on the obtained ablation region and the obtained effective ablation ratio.
6. The apparatus of claim 5, wherein the fourth obtaining sub-module obtains an effective evaluation factor of an ablation needle group consisting of any two candidate needle layout points in the candidate needle layout point set based on the obtained ablation region and the obtained effective ablation ratio, and comprises: the effective evaluation factor is obtained by using the formula c ═ w × (1-w) × s, where c denotes the effective evaluation factor, w denotes the weighting factor, r denotes the effective ablation ratio, and s denotes the ablation region.
7. The apparatus of claim 1, wherein the region updating module updates the current lesion region based on the ablation region formed by the ablation needle group corresponding to the maximum effective evaluation factor, and comprises:
and deleting the ablation region formed by the ablation needle group corresponding to the maximum effective evaluation factor in the current lesion region before updating, wherein the deleted lesion region is used as the current lesion region after updating.
8. The apparatus of claim 4, wherein the length of the link is measured in pixels, and wherein the length within the primary focal region is characterized by how many pixels in the link belong to the primary focal region and the length outside the primary focal region is characterized by how many pixels do not belong to the primary focal region.
9. The apparatus of claim 5, wherein the ablation region corresponding to the ablation needle group consisting of any two candidate needle placement points is represented by pixels.
10. The device according to claim 1, wherein the effective evaluation factor of the ablation needle group consisting of any two candidate needle placement points is obtained by using an effective ablation ratio and/or an ablation region corresponding to the ablation needle group consisting of any two candidate needle placement points, wherein the effective ablation ratio is used for representing the ablation efficiency of the ablation region corresponding to the ablation needle group consisting of any two candidate needle placement points relative to the current lesion region.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011345756.1A CN112315579B (en) | 2020-11-25 | 2020-11-25 | Electrode needle distribution device and method based on focus area |
| PCT/CN2021/090008 WO2022110635A1 (en) | 2020-11-25 | 2021-04-26 | Electrode needle layout apparatus and method based on lesion area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011345756.1A CN112315579B (en) | 2020-11-25 | 2020-11-25 | Electrode needle distribution device and method based on focus area |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112315579A CN112315579A (en) | 2021-02-05 |
| CN112315579B true CN112315579B (en) | 2021-07-02 |
Family
ID=74308812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011345756.1A Active CN112315579B (en) | 2020-11-25 | 2020-11-25 | Electrode needle distribution device and method based on focus area |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112315579B (en) |
| WO (1) | WO2022110635A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112315579B (en) * | 2020-11-25 | 2021-07-02 | 上海睿刀医疗科技有限公司 | Electrode needle distribution device and method based on focus area |
| CN113440249B (en) * | 2021-08-06 | 2022-05-13 | 上海睿刀医疗科技有限公司 | Electrode needle ablation data determination method and device, electronic equipment and storage medium |
| CN113662655A (en) * | 2021-10-25 | 2021-11-19 | 北京微刀医疗科技有限公司 | Needle distribution plate and needle distribution device of puncture ablation needle and puncture ablation system |
| CN114224472B (en) * | 2021-11-29 | 2024-09-20 | 上海诺生医疗科技有限公司 | Electrode card clothing needle correction device and method, electronic equipment and storage medium |
| CN114224471B (en) * | 2021-11-29 | 2024-09-20 | 上海诺生医疗科技有限公司 | Electrode card clothing needle correction device and method, electronic equipment and storage medium |
| CN114469309B (en) * | 2022-02-16 | 2022-10-21 | 上海睿刀医疗科技有限公司 | Ablation device, electrode needle layout strategy obtaining method, electronic equipment and storage medium |
| CN116077178B (en) * | 2023-04-04 | 2023-06-27 | 浙江伽奈维医疗科技有限公司 | Needle distribution simulating method and system for steep pulse tumor therapeutic apparatus and therapeutic apparatus |
| CN118021420B (en) * | 2024-04-15 | 2024-07-05 | 杭州睿笛生物科技有限公司 | Pulse electrothermal composite field ablation treatment system |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10238447B2 (en) * | 2008-04-29 | 2019-03-26 | Virginia Tech Intellectual Properties, Inc. | System and method for ablating a tissue site by electroporation with real-time monitoring of treatment progress |
| RU2581714C2 (en) * | 2009-12-08 | 2016-04-20 | Конинклейке Филипс Электроникс Н.В. | Ablation treatment planning and device |
| CN103796607B (en) * | 2011-09-13 | 2017-01-18 | 皇家飞利浦有限公司 | Ablation planning with lesion coverage feedback |
| US10402535B2 (en) * | 2014-02-26 | 2019-09-03 | Siemens Healthcare Gmbh | System and method for personalized computation of tissue ablation extent based on medical images |
| WO2019152935A1 (en) * | 2018-02-05 | 2019-08-08 | Broncus Medical Inc. | Image-guided lung tumor planning and ablation system |
| CN109567939A (en) * | 2018-12-10 | 2019-04-05 | 艾瑞迈迪科技石家庄有限公司 | A kind of percutaneous puncture optimum path planning method and device |
| CN110942832B (en) * | 2019-12-11 | 2024-02-20 | 南京亿高医疗科技股份有限公司 | Microwave ablation system |
| CN111529052B (en) * | 2020-04-16 | 2021-05-07 | 上海睿刀医疗科技有限公司 | A system for predicting the area of electrical pulse ablation |
| CN111529051B (en) * | 2020-04-16 | 2021-05-07 | 上海睿刀医疗科技有限公司 | A system for predicting the area of electrical pulse ablation |
| CN111529056B (en) * | 2020-05-30 | 2025-03-14 | 深圳半岛医疗集团股份有限公司 | Radio frequency microneedle array control device, method and radio frequency microneedle therapeutic device |
| CN112315579B (en) * | 2020-11-25 | 2021-07-02 | 上海睿刀医疗科技有限公司 | Electrode needle distribution device and method based on focus area |
-
2020
- 2020-11-25 CN CN202011345756.1A patent/CN112315579B/en active Active
-
2021
- 2021-04-26 WO PCT/CN2021/090008 patent/WO2022110635A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN112315579A (en) | 2021-02-05 |
| WO2022110635A1 (en) | 2022-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112315579B (en) | Electrode needle distribution device and method based on focus area | |
| US11532078B2 (en) | Systems and methods for identifying optimized ablation targets for treating and preventing arrhythmias sustained by reentrant circuit | |
| JP4748843B2 (en) | RECORDING MEDIUM CONTAINING PROGRAM FOR CAUSING COMPUTER TO EXECUTE SPECIFIC AREA EXTRACTION DISPLAY AND DEVICE | |
| JP5921665B2 (en) | Apparatus and method for determining skin inflammation value | |
| US20090099468A1 (en) | Automated Processing of Electrophysiological Data | |
| CN115590623B (en) | Puncture path planning system | |
| CN113491577B (en) | Multi-needle combined cryoablation path planning equipment | |
| CN110599465B (en) | Image positioning method and device, computer equipment and storage medium | |
| CN106901718A (en) | Many active regions are shown on electro-anatomical map | |
| CN112022345B (en) | Three-dimensional visual preoperative planning method, system and terminal for abdominal wall defect reconstruction | |
| CN107103605A (en) | A kind of dividing method of breast tissue | |
| CN112656506A (en) | Method and device for confirming radio frequency ablation path and terminal equipment | |
| RU2531568C2 (en) | Instant correction of tumour segmentation results | |
| CN101305920B (en) | Method and device for computerized tomoscanning vertebrae | |
| CN114224471B (en) | Electrode card clothing needle correction device and method, electronic equipment and storage medium | |
| CN109816672B (en) | Image segmentation acquisition method and device for head and neck bones | |
| CN110148113A (en) | A kind of lesion target area information labeling method based on tomoscan diagram data | |
| CN115227393A (en) | Puncture path planning method in liver tumor radio frequency ablation | |
| CN115486935B (en) | Ablation determination method and system | |
| CN117274606A (en) | Nuclear magnetic resonance brain tumor region extraction method | |
| CN110148114A (en) | A kind of deep learning model training method based on 2D faulted scanning pattern data set | |
| CN112767332B (en) | A method and system for determining blood vessel regions based on CTA images | |
| CN116029972A (en) | A nondestructive segmentation and reconstruction method of fracture region based on morphology | |
| CN119170234B (en) | Computer equipment, systems and media for realizing needle layout planning | |
| CN113705807A (en) | Neural network training device and method, ablation needle arrangement planning device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 200135 3rd floor, building 3, Lane 166, Tianxiong Road, Pudong New Area, Shanghai Patentee after: Shanghai RuiDao Medical Technology Co.,Ltd. Address before: 200135 3rd floor, building 3, Lane 166, Tianxiong Road, Pudong New Area, Shanghai Patentee before: SHANGHAI REMEDICINE Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |