CN116196096A - Ablation needle deployment method, system, computer device and storage medium - Google Patents

Abstract

The application relates to an ablation needle deployment method, an ablation needle deployment system, a computer device and a storage medium. The method comprises the following steps: obtaining a plurality of needle distribution schemes generated under the scenes of different needle numbers by carrying out linear fitting on the ablation needles with different effective needle tip lengths and different ablation durations; the needle distribution scheme comprises an ablation area, and the number of needles, the effective length of a needle point, the ablation duration and the needle distribution point position corresponding to the ablation area; determining a plurality of needle distribution schemes, wherein the ablation region completely covers the abnormal region, and the coverage area of the normal region corresponding to normal tissues in the medical image of the target object is smaller than a preset value, as a pre-needle distribution scheme; and taking the preselected needle arrangement scheme that the path from the needle arrangement point position to the abnormal region in the plurality of preselected needle arrangement schemes does not pass through the important organ of the target object as the target needle arrangement scheme. The method can automatically plan the number of the ablation needles, the effective length of the needle points and the ablation time length, and accurately plan the needle distribution scheme.

Description

Ablation needle deployment method, system, computer device and storage medium

Technical Field

The application relates to the technical field of cryoablation, in particular to an ablation needle deployment method, an ablation needle deployment system, computer equipment and a storage medium.

Background

The cryoablation technology is a means for freezing local tissues by using deep low temperature, and can controllably destroy and ablate abnormal tissues so as to achieve the purpose of cutting the abnormal tissues. The existing cryoablation technology generally comprises the steps that an operation object estimates the number of ablation needles, the effective length of the needle points and the ablation time length through experience according to the size of abnormal tissues, and finally the operation object manually inserts the ablation needles into the abnormal tissues, the process needs to determine the positions through repeated insertion and extraction, and finally freezing is implemented and operation is carried out according to the time length.

However, in the conventional cryoablation technology, an operator cannot evaluate whether an effective area of cryoablation completely covers abnormal tissues, and cannot uniformly plan an accurate needle deployment scheme for parameters such as the number of ablation needles, the effective length of the needle points, the ablation duration and the like, and repeated calibration is required in the manual needle deployment process, so that multiple injuries are caused.

Disclosure of Invention

Based on the above, it is necessary to provide an ablation needle deployment method, system, computer device and storage medium capable of automatically planning a needle deployment plan including the number of ablation needles, the effective length of the needle tips and the ablation time period according to the volume of the abnormal tissue, so that the effective treatment area of cryoablation completely covers the abnormal tissue, and avoiding damaging the normal tissue.

In a first aspect, the present application provides an ablation needle deployment method comprising:

acquiring an abnormal region corresponding to an abnormal tissue in a medical image of a target object;

simulating based on the tissue parameters of the target object, the needle number of the ablation needle, the working time length parameters and the physical parameters, and generating a plurality of needle distribution schemes under different needle number scenes;

based on preset screening conditions, an optimal needle distribution scheme is determined from a plurality of needle distribution schemes and is used as a target needle distribution scheme.

In one embodiment, acquiring an abnormal region corresponding to an abnormal tissue in a medical image of a target object includes:

respectively carrying out three-dimensional modeling on the nuclear magnetic image and the real-time ultrasonic image of the target object to obtain a nuclear magnetic three-dimensional model and a real-time ultrasonic three-dimensional model of the target object; the nuclear magnetic three-dimensional model comprises a three-dimensional contour of a target object and a three-dimensional contour of abnormal tissues; the ultrasonic three-dimensional model comprises a real-time three-dimensional contour of the target object;

fusing the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model to obtain a fused three-dimensional model of the target object under an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model; the fusion three-dimensional model comprises a real-time three-dimensional contour of the target object and a three-dimensional contour of abnormal tissue;

And taking the position and the region of the three-dimensional outline of the abnormal tissue in the fused three-dimensional model under the ultrasonic coordinate system as an abnormal region corresponding to the abnormal tissue.

In one embodiment, elastically fusing the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model to obtain a fused three-dimensional model under an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model, including:

translating and/or rotating a nuclear magnetic coordinate system corresponding to the nuclear magnetic three-dimensional model until the center of the nuclear magnetic coordinate system coincides with the center of the ultrasonic coordinate system, and each axial direction of the nuclear magnetic coordinate system coincides with each axial direction of the ultrasonic coordinate system, and synchronously adjusting the three-dimensional contour of the target object in the nuclear magnetic three-dimensional model to coincide with the real-time three-dimensional contour of the target object in the ultrasonic three-dimensional model to obtain a fused three-dimensional model under the ultrasonic coordinate system.

In one embodiment, the needle arrangement comprises: the single needle cloth needle scheme and the multi-needle cloth needle scheme simulate based on tissue parameters of a target object, needle numbers of ablation needles, working time length parameters and physical parameters, and generate a plurality of cloth needle schemes under different needle number scenes, and the method comprises the following steps:

under the tissue parameters of a target object, single ablation needles based on different physical parameters simulate different working time parameters to obtain a plurality of single-needle cloth needle schemes;

And superposing at least two identical or different single-card clothing needle schemes to obtain a plurality of multi-card clothing needle schemes.

In one embodiment, the preset screening conditions include at least one of a first screening condition, a second screening condition, and a third screening condition; the first screening conditions were: the ablation area corresponding to the needle distribution scheme completely covers the abnormal area, and the coverage area of the normal area corresponding to the normal tissue in the medical image of the target object is smaller than a preset value; the second screening condition is that the path from the needle distribution point position corresponding to the needle distribution scheme to the abnormal region does not pass through the important organ of the target object; the third screening condition is that the number of the ablation needles corresponding to the needle distribution scheme is the least.

In one embodiment, determining an optimal needle distribution scheme from a plurality of needle distribution schemes as a target needle distribution scheme based on a preset screening condition includes:

initializing a plurality of needle distribution schemes, and taking the plurality of needle distribution schemes as a parent;

generating a plurality of filial generations from a plurality of needle distribution schemes by a mutation operator of a genetic algorithm;

selecting a plurality of individuals from the father and the offspring as the next generation according to the fitness of each father and the offspring, and screening the optimal solution in the acquired next generation;

If the needle distribution scheme corresponding to the optimal solution does not meet the preset screening conditions, returning to execute the step of generating a plurality of filings from the plurality of needle distribution schemes through a mutation operator of the genetic algorithm, and continuing to execute until the needle distribution scheme corresponding to the optimal solution meets the preset screening conditions, judging that the needle distribution scheme corresponding to the optimal solution is the optimal needle distribution scheme, and taking the optimal needle distribution scheme as the target needle distribution scheme.

In one embodiment, selecting a plurality of individuals from the parent and the offspring as the next generation according to the fitness of each parent and the offspring, and selecting the optimal solution from the acquired next generation comprises:

determining coverage rate between an ablation area corresponding to each needle distribution scheme and a medical image of a target object;

calculating the fitness of the coverage rate corresponding to each needle distribution scheme and the average value of the fitness of the needle distribution scheme;

taking a plurality of needle distribution schemes with the fitness being larger than the average value of the fitness as the next generation, carrying out cross mutation on the next generation, returning to the step of determining the coverage rate between the ablation area corresponding to each needle distribution scheme and the medical image of the target object, and continuing to execute until the optimal solution is output.

In one embodiment, determining coverage between the ablation region corresponding to each needle placement protocol and the medical image of the target object includes:

Dividing a fusion three-dimensional model corresponding to a target object into a plurality of cubes, configuring a first label for the cubes containing normal areas, and configuring a second label for the cubes containing abnormal areas; the first label is used for indicating that the cube contains a normal area; the second label indicates that the cube contains an abnormal area;

covering the ablation area corresponding to each needle distribution scheme into an abnormal area fused with the three-dimensional model, replacing a second label of the cube covered by the ablation area with a third label, and replacing a first label of the cube covered by the ablation area with a fourth label; a third label is used for indicating that the abnormal area contained in the cube is covered by the ablation area; a fourth label is used to indicate that the normal area contained by the cube is covered by the ablated area;

counting the number of second labels and fourth labels in the fusion three-dimensional model after the ablation areas corresponding to the needle distribution schemes are covered to the abnormal areas of the fusion three-dimensional model;

and determining the coverage rate between the ablation area corresponding to each needle distribution scheme and the medical image of the target object based on the number of the second labels and the fourth labels.

In one embodiment, the method further comprises:

Determining the model of a target ablation needle loaded at the tail end of the mechanical arm according to physical parameters of the ablation needle in the target needle distribution scheme;

guiding and positioning by a mechanical arm, inserting a target ablation needle into a needle distribution point corresponding to a target needle distribution scheme, tracking the needle point movement path of the target ablation needle in real time, and adjusting the needle point movement path of the target ablation needle according to the deviation between the needle point position of the target ablation needle and the needle distribution point until the needle point position of the target ablation needle coincides with the needle distribution point;

executing operation on the target object according to the working time length parameter corresponding to the target needle arrangement scheme, and detecting consistency between an ablation area generated in the process of executing operation and the ablation area corresponding to the target needle arrangement scheme;

and if the consistency between the generated ablation area and the ablation area corresponding to the target needle deployment scheme meets the requirement, and the working time length parameter of the target ablation needle is consistent with the working time length parameter corresponding to the target needle deployment scheme, executing the needle withdrawing operation of the target ablation needle through the mechanical arm.

In a second aspect, the present application also provides an ablation needle deployment system. The system comprises: a console, a robotic arm, and a cryoablation device;

the control console is used for acquiring an abnormal region corresponding to the abnormal tissue in the medical image of the target object;

Simulating based on the tissue parameters of the target object, the needle number of the ablation needle, the working time length parameters and the physical parameters, and generating a plurality of needle distribution schemes under different needle number scenes;

determining an optimal needle distribution scheme from a plurality of needle distribution schemes based on preset screening conditions, and taking the optimal needle distribution scheme as a target needle distribution scheme;

loading an ablation needle by the mechanical arm, and inserting the ablation needle to a needle distribution point;

the cryoablation apparatus is used to energize the ablation needle.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:

acquiring an abnormal region corresponding to an abnormal tissue in a medical image of a target object;

simulating based on the tissue parameters of the target object, the needle number of the ablation needle, the working time length parameters and the physical parameters, and generating a plurality of needle distribution schemes under different needle number scenes;

based on preset screening conditions, an optimal needle distribution scheme is determined from a plurality of needle distribution schemes and is used as a target needle distribution scheme.

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

Acquiring an abnormal region corresponding to an abnormal tissue in a medical image of a target object;

simulating based on the tissue parameters of the target object, the needle number of the ablation needle, the working time length parameters and the physical parameters, and generating a plurality of needle distribution schemes under different needle number scenes;

based on preset screening conditions, an optimal needle distribution scheme is determined from a plurality of needle distribution schemes and is used as a target needle distribution scheme.

In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:

acquiring an abnormal region corresponding to an abnormal tissue in a medical image of a target object;

simulating based on the tissue parameters of the target object, the needle number of the ablation needle, the working time length parameters and the physical parameters, and generating a plurality of needle distribution schemes under different needle number scenes;

based on preset screening conditions, an optimal needle distribution scheme is determined from a plurality of needle distribution schemes and is used as a target needle distribution scheme.

According to the ablation needle distribution method, the system, the computer equipment and the storage medium, the plurality of needle distribution schemes generated under the scenes of different needle numbers are obtained through linear fitting of the ablation needles with different needle tip effective lengths and different ablation durations, the pre-needle distribution scheme is searched for from the plurality of needle distribution schemes through the optimal scheme searching algorithm, the target needle distribution scheme is selected from the plurality of pre-selected needle distribution schemes based on the screening standard that the path from the needle distribution point to the abnormal region does not pass through important organs of a target object, namely the optimal needle distribution scheme, so that the number of ablation needles, the needle tip effective lengths and the ablation durations can be automatically planned according to the volume of the abnormal region, the abnormal region is completely covered by the cryoablation effective treatment region, the damage to normal cells in the treatment region is avoided, and the uniformly planned accurate needle distribution scheme is realized.

Drawings

FIG. 1 is a diagram of an application environment of an ablation needle deployment method in one embodiment;

FIG. 2 is a flow chart of an ablation needle deployment method in one embodiment;

FIG. 3 is a flowchart of acquiring an abnormal region corresponding to an abnormal tissue in a medical image of a target object according to an embodiment;

FIG. 4 is a schematic diagram showing the fusion of a nuclear magnetic three-dimensional model and an ultrasound three-dimensional model in another embodiment;

FIG. 5 is a schematic diagram of a fusion flow of a nuclear magnetic three-dimensional model and an ultrasound three-dimensional model in one embodiment;

FIG. 6 is a general flow chart of an ablation needle deployment method in one embodiment;

FIG. 7 is an exemplary schematic diagram of a freeze ablation operating system in one embodiment;

FIG. 8 is a flowchart of generating multiple needle placement schemes under different needle count scenarios based on simulation of tissue parameters of a target object and needle count, duration of operation parameters, and physical parameters of an ablation needle in one embodiment;

FIG. 9 is a schematic illustration of the size of an ablation region in one embodiment;

FIG. 10 is a schematic illustration of ablation regions corresponding to different ablation needles in one embodiment;

FIG. 11 is a schematic illustration of an ablation region fit in one embodiment;

FIG. 12 is a schematic diagram of ablation region superimposition in one embodiment;

FIG. 13 is a flowchart of a genetic algorithm in one embodiment;

FIG. 14 is a schematic diagram of a genetic algorithm in one embodiment;

FIG. 15 is a flow chart of determining coverage between an ablation region corresponding to each needle placement protocol and a medical image of a target object in one embodiment;

FIG. 16 is a segmentation schematic diagram of a fused three-dimensional model in one embodiment;

FIG. 17 is a label replacement schematic of a fused three-dimensional model in one embodiment;

FIG. 18 is a flow chart corresponding to a freeze ablation needle deployment scenario in one embodiment;

FIG. 19 is a three-dimensional interface display of a freeze ablation protocol in one embodiment;

FIG. 20 is a flow diagram of directing a robotic arm to perform a job on a target object according to a target needle placement scheme in one embodiment;

FIG. 21 is a schematic diagram of a freeze ablation procedure in one embodiment;

fig. 22 is a schematic diagram of monitoring a freeze ablation operation in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The ablation needle distribution method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. The ultrasonic equipment acquires real-time ultrasonic images of the target object in the operation process. The control console is used for acquiring an abnormal region corresponding to the abnormal tissue in the medical image of the target object; simulating based on the tissue parameters of the target object, the needle number of the ablation needle, the working time length parameters and the physical parameters, and generating a plurality of needle distribution schemes under different needle number scenes; based on preset screening conditions, an optimal needle distribution scheme is determined from a plurality of needle distribution schemes and is used as a target needle distribution scheme. The mechanical arm is loaded with the ablation needle, and the parallel or non-parallel needle insertion mode of the ablation needle can be realized through the guiding and positioning of the mechanical arm. The ablation needle aims at a target object, and the ablation needle has various types, wherein the effective length and the ablation duration of the needle point of the ablation needle are different, so that the freezing coverage range is different. The cryoablation device is used for providing energy for the ablation needles, and maximally supports 6 ablation needles to work simultaneously so as to meet the cryoablation operation capable of covering the whole target object. The operation object and the assistance object intervene in manual correction or manual operation in the process that the console guides the mechanical arm to execute the operation on the target object.

In one embodiment, as shown in fig. 2, an ablation needle deployment method is provided, and the method is applied to the console in fig. 1 for illustration, and includes the following steps:

step 202, obtaining an abnormal region corresponding to an abnormal tissue in a medical image of a target object.

Wherein the target object refers to the biological tissue acted by the ablation needle. For example, it may be a biological tissue such as lung, heart, or prostate. Abnormal tissue refers to a structure that does not belong to the original biological tissue of the target object or the original biological tissue lesion of the target object. For example, the abnormal tissue may be a tumor, a nodule, or the like. Medical imaging refers to medical scanning three-dimensional imaging including target objects, such as nuclear magnetic resonance imaging and real-time ultrasound imaging. An abnormal region refers to an imaging region of abnormal tissue in a medical image.

Optionally, the console acquires a medical image of the target object through the medical scanning device, and determines an abnormal region corresponding to the abnormal tissue in the medical image.

Step 204, performing simulation based on the tissue parameters of the target object, the needle number of the ablation needle, the working time length parameters and the physical parameters, and generating a plurality of needle distribution schemes under different needle number scenes.

The tissue parameter of the target object refers to a conduction parameter of a tissue structure of the target object on ablation energy, for example, the tissue parameter can be specific heat capacity of the target object, heat loss and the like, and the specific heat capacity is heat absorbed or released when the unit volume of the current object changes by a unit temperature, and the unit is J/(M3*K); the heat loss is the heat lost when the target volume changes by a unit temperature, and the unit is W/(M3*K). Taking the target object as a prostate as an example, the thermal specific volume of the prostate is the heat absorbed or released when the unit volume of the prostate changes by unit temperature, and the heat loss of the prostate is the heat lost when the unit volume of the prostate changes by unit temperature. Because the tissue parameters of different target objects have different conductive capacities on ablation energy, in order to improve simulation precision, a more accurate needle distribution scheme is obtained.

The ablation needle may be a cryoablation needle or a thermal ablation needle. Taking a cryoablation needle as an example, the effective length of the needle point of the cryoablation needle is related to the model of the cryoablation needle, and the models of 5mm, 15mm and 30mm of the effective length of the needle point are common in the market, the models of the cryoablation needles are different, and the generated ice ball ablation areas are also different under the same ablation duration. Generally, the number of ablation needles can be in the range of 1 to 6, with larger needles providing larger ablation areas.

The working time length parameter of the ablation needle refers to the time for the ablation needle to work and release energy, and the general supporting range in the market is 1-15 min. Taking an ablation needle as a cryoablation needle for example, the cryoablation time is different, and the ice ball ablation areas generated by the cryoablation needle are different under the condition of the same effective length of the needle point. The longer the ablation time, the larger the ablation zone, but the puck cryoablation zone has the maximum value.

The physical parameters of the ablation needle refer to structural parameters of the ablation needle, and the physical parameters can be the effective length of the needle tip of the ablation needle, the thermal conductivity of the ablation needle, the rigidity of the ablation needle and the like. Among them, the effective needle tip length of the ablation needle is generally 5mm, 15mm and 30 mm. The prostate is mainly treated with about 5 mm. The thermal conductivity represents the physical quantity of the thermal conductivity of the ablation needle, and the unit is W/(M3*K). The rigidity of the ablation needle means that the cryoablation needle bears the force of resisting deformation of the ice ball, the unit is N/mm, and the ice ball area can be heavier during cryoablation, so that the former needle and the latter needle can influence each other. Therefore, when simulation is performed, the rigidity of the ablation needle is considered, so that the simulation precision is improved, and a more accurate needle distribution scheme is obtained.

The needle placement protocol includes the size of the ablation zone, the number of needles required to create the ablation zone, the effective length of the tip of the ablation needle, the stiffness of the ablation needle, the thermal conductivity of the ablation needle, the length of ablation time, and the placement point location. The needle distribution point is a needle insertion point of the ablation needle on the body surface of the target object.

The ablation zone created by the cryoablation needle is generally elliptical in shape, with-40 ℃ being the effective operating temperature at and below which abnormal tissue can be cryolethal. There are various types of cryoablation needles aiming at a target object, and the effective length and the ablation duration of the needle tip of the cryoablation needle are different, so that the coverage range of the freezing is different. In the prior art, a puncture path of a single-needle ablation needle and a corresponding puck coverage area are determined based on an algorithm, and the multi-needle combination is realized by repeatedly performing single-needle ablation on the rest area for multiple times after single-needle ablation, so that a multi-needle combination needle distribution scheme is realized. However, the prior art does not provide a complete needle distribution plan, and multiple single needle treatments can result in excessive operating time, and at the same time, complete coverage of abnormal areas or repeated coverage of normal areas cannot be achieved. Therefore, in order to solve the above-mentioned problem, the present embodiment simulates based on the tissue parameters of the target object and the needle number, working time length parameters and physical parameters of the ablation needle, and generates a plurality of needle distribution schemes generated under different needle number scenes, and searches for an optimal needle distribution scheme from the plurality of needle distribution schemes through an optimal scheme searching algorithm, so that the number of ablation needles, the thermal conductivity of the ablation needles, the rigidity of the ablation needles, the effective needle tip length of the ablation needles, the ablation time length and the needle distribution point positions can be automatically planned according to the volume of the abnormal region, so that the effective cryoablation treatment region completely covers the abnormal region, and meanwhile, the damage of the ablation region to normal cells is avoided, and the uniformly planned accurate needle distribution scheme is realized.

Optionally, the console inputs the tissue parameters of the target object, the needle number, the working time length parameters and the physical parameters of the ablation needles into simulation software, builds a simulation environment for ablating the target object through the simulation software, and simulates based on the rule of ablation areas generated by the ablation needles under different needle numbers, different physical parameters and different working time lengths, so as to acquire a plurality of needle distribution schemes generated under different needle numbers; the needle distribution scheme comprises the size of an ablation area, the number of needles required for generating the ablation area, the effective length of the needle tip of the ablation needle, the rigidity of the ablation needle, the heat conductivity of the ablation needle, the ablation duration and the needle distribution point position.

Step 206, determining an optimal needle distribution scheme from a plurality of needle distribution schemes based on preset screening conditions, wherein the optimal needle distribution scheme is used as a target needle distribution scheme.

Wherein, the plurality of needle distribution schemes obtained in step 204 may form a needle distribution scheme library. Searching an optimal needle distribution scheme meeting preset screening conditions from a plurality of needle distribution schemes through an optimal scheme searching algorithm to serve as a target needle distribution scheme.

In some embodiments, the preset screening conditions include at least one of a first screening condition, a second screening condition, and a third screening condition; the first screening conditions were: the ablation area corresponding to the needle distribution scheme completely covers the abnormal area, and the coverage area of the normal area corresponding to the normal tissue in the medical image of the target object is smaller than a preset value; the second screening condition is that the path from the needle distribution point position corresponding to the needle distribution scheme to the abnormal region does not pass through the important organ of the target object; the third screening condition is that the number of the ablation needles corresponding to the needle distribution scheme is the least.

The coverage area of the ablation area and the normal area corresponding to the normal tissue in the medical image of the target object is smaller than a preset value, and the overlapping area of the ablation area and the normal area is smaller than the preset value.

An important organ refers to a normal and inaccessible organ of the target object. Taking the target object as a prostate as an example, the important organs may be organs such as urethra and pubic bone. The path from the needle placement position to the abnormal region may be a straight path, and if the coordinates of the pixel points on the path do not coincide with the coordinates of the pixel points of the vital organs of the target object, it is determined that the path from the needle placement position corresponding to the needle placement scheme to the abnormal region does not pass through the vital organs of the target object.

Optionally, the console searches an optimal needle distribution scheme meeting preset screening conditions from a plurality of needle distribution schemes through an optimal scheme searching algorithm, covers an ablation area corresponding to the target needle distribution scheme to an abnormal area as a target needle distribution scheme, determines needle distribution points on a target object according to the position of the needle points of the ablation needles in the ablation area in the abnormal area, and plans a needle distribution point path from the ablation needles to the needle distribution points according to the relative position relation between the needle distribution points and the ablation needles at the tail ends of the mechanical arms; according to the needle distribution path, the mechanical arm is guided to insert the ablation needle into the needle distribution point, and the operation is executed on the target object according to the ablation time length in the target needle distribution scheme.

In the ablation needle distribution method, simulation is performed based on tissue parameters of a target object, needle numbers of ablation needles, working time length parameters and physical parameters, a plurality of needle distribution schemes generated under different needle number scenes are generated, and an optimal needle distribution scheme is searched from the plurality of needle distribution schemes through an optimal scheme searching algorithm and is used as the target needle distribution scheme. In the method, when simulation is carried out, parameters such as tissue parameters of a target object, the needle number of an ablation needle, working time length parameters, physical parameters and the like are considered, so that simulation precision is improved, a more accurate needle distribution scheme is obtained, the number of the ablation needles, the type of the ablation needles and the ablation time length are automatically planned according to the volume of an abnormal region, the effective treatment region for cryoablation completely covers the abnormal region, normal cells are prevented from being damaged by the treatment region, and the accurate needle distribution scheme for unified planning is realized.

In one embodiment, in order to obtain the real-time position of the abnormal region and the position relationship between the abnormal region and the ablation needle in real time when the ablation needle is operated, and improve the accuracy of needle insertion of the ablation needle, the embodiment fuses the nuclear magnetic three-dimensional model of the target object and the real-time ultrasonic three-dimensional model to obtain a fused three-dimensional model, the fused three-dimensional model comprises the real-time three-dimensional contour of the target object and the three-dimensional contour of abnormal tissue, and converts the abnormal region into an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model, so that the real-time position of the abnormal region and the position relationship between the abnormal region and the ablation needle are obtained. Specifically, as shown in fig. 3, acquiring an abnormal region corresponding to an abnormal tissue in a medical image of a target object includes:

Step 302, respectively carrying out three-dimensional modeling on a nuclear magnetic image and a real-time ultrasonic image of a target object to obtain a nuclear magnetic three-dimensional model and a real-time ultrasonic three-dimensional model of the target object; the nuclear magnetic three-dimensional model comprises a three-dimensional contour of a target object and a three-dimensional contour of abnormal tissues; the ultrasound three-dimensional model includes a real-time three-dimensional contour of the target object.

The method comprises the steps that a nuclear magnetic image of a target object is acquired before operation, so that a nuclear magnetic three-dimensional model established based on the nuclear magnetic image can only represent the position and the size of an abnormal region on a medical image of the target object when the nuclear magnetic image is shot, however, the situation that cryoablation operation cannot be immediately performed after the nuclear magnetic image is shot exists, and the real-time position and the size of the abnormal region cannot be represented by the abnormal region in the nuclear magnetic three-dimensional model, and therefore, in the operation process, if abnormal tissues change, the target needle distribution scheme finally determined through screening is not matched with the current abnormal image, so that the precision of the cryoablation operation is reduced. The real-time ultrasonic image of the target object is obtained in the operation process and is used for monitoring the real-time three-dimensional outline of the target object and the important organs of the target object in real time, but the real-time three-dimensional outline of the target object can only be obtained based on the ultrasonic three-dimensional model established by the real-time ultrasonic image, and the position and the size of the abnormal region can not be obtained. Therefore, in the embodiment, the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model are fused, and the obtained fused three-dimensional model not only can acquire the position and the size of the abnormal region, but also can acquire the real-time three-dimensional contour of the target object.

Optionally, as shown in fig. 4, the nuclear magnetic image and the real-time ultrasonic image of the target object are respectively input to a console, and the console models the target object according to the nuclear magnetic image and the real-time ultrasonic image to obtain a nuclear magnetic three-dimensional model and a real-time ultrasonic three-dimensional model of the target object; the nuclear magnetic three-dimensional model comprises a three-dimensional contour of a target object and a three-dimensional contour of abnormal tissues; the ultrasound three-dimensional model includes a real-time three-dimensional contour of the target object.

Step 304, fusing the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model to obtain a fused three-dimensional model of the target object under an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model; the fusion three-dimensional model comprises a real-time three-dimensional contour of the target object and a three-dimensional contour of the abnormal tissue.

The fusion process of the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model comprises the following steps: and calculating the distance between the nuclear magnetic three-dimensional model and the corresponding pixel point of the three-dimensional contour of the target object in the ultrasonic three-dimensional model, and adjusting the distance between the nuclear magnetic three-dimensional model and the corresponding pixel point in the ultrasonic three-dimensional model to be minimum in a translation or rotation mode, so that the fused three-dimensional model can be obtained. The fused three-dimensional model is in an ultrasonic coordinate system, so that the fused three-dimensional model can display the real-time three-dimensional contour of the target object and the three-dimensional contour of the abnormal tissue.

In some embodiments, the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model are fused to obtain a fused three-dimensional model of the target object under an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model, which specifically comprises the following steps:

translating and/or rotating a nuclear magnetic coordinate system corresponding to the nuclear magnetic three-dimensional model until the center of the nuclear magnetic coordinate system coincides with the center of the ultrasonic coordinate system, and each axial direction of the nuclear magnetic coordinate system coincides with each axial direction of the ultrasonic coordinate system, and synchronously adjusting the three-dimensional contour of the target object in the nuclear magnetic three-dimensional model to coincide with the real-time three-dimensional contour of the target object in the ultrasonic three-dimensional model to obtain a fused three-dimensional model under the ultrasonic coordinate system.

The fusion process is to take a real-time ultrasonic coordinate system as a reference, and match the translation and rotation of the nuclear magnetic three-dimensional model to the central point and the direction of the ultrasonic coordinate system until the contour of the target object in the nuclear magnetic three-dimensional model is synchronously adjusted and embedded into the real-time ultrasonic three-dimensional model, and the final presented effect is shown as a figure 4, wherein the three-dimensional contour of the target object in the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model in the figure 4 are overlapped.

And 306, taking the position and the area of the three-dimensional outline of the abnormal tissue in the fused three-dimensional model under the ultrasonic coordinate system as an abnormal area corresponding to the abnormal tissue.

In order to display the real-time three-dimensional outline of the target object and the real-time position and the real-time size of the abnormal region in real time, the embodiment calculates the real-time position and the real-time size of the abnormal region in the fusion three-dimensional model under the ultrasonic coordinate system.

Optionally, as shown in fig. 5, the console fuses the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model to obtain a fused three-dimensional model of the target object under an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model, wherein the fused three-dimensional model comprises a three-dimensional contour of an abnormal tissue of the target object, and the position and the size of the abnormal region are determined according to the three-dimensional contour of the abnormal tissue.

In some embodiments, the overall flow of the ablation needle deployment method is as shown in fig. 6, firstly, a real-time ultrasonic image is obtained by adopting real-time ultrasonic scanning, and a console models based on the real-time ultrasonic image to obtain an ultrasonic three-dimensional model; leading in a nuclear magnetic three-dimensional model under an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model, and fusing the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model by a control console to obtain a fused three-dimensional model of the target object under the ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model; calculating the real-time position and the area size of the abnormal area under an ultrasonic coordinate system; simulating based on tissue parameters of a target object and needle numbers, working time length parameters and physical parameters of ablation needles to generate a plurality of needle distribution schemes under different needle number scenes, selecting an optimal needle distribution scheme from the plurality of needle distribution schemes as a target needle distribution scheme, determining the needle numbers, the model numbers, the ablation time lengths and the needle distribution point positions corresponding to the cryoablation needles according to the target needle distribution scheme, covering a cryoablation area corresponding to the target needle distribution scheme to an abnormal area, and taking the positions of needle points in the cryoablation area in the abnormal area as needle distribution points on the body surface of the target object; the mechanical arm is loaded with an ultrasonic probe, an ultrasonic two-dimensional image containing a target object and a cryoablation needle is obtained, the ultrasonic two-dimensional image and an actual object are calibrated, a mechanical arm coordinate system corresponding to the mechanical arm is further converted into an ultrasonic coordinate system, the relative position relation between a needle distribution point and the mechanical arm is obtained, and a path from the cryoablation needle to the needle distribution point is planned according to the relative position relation; and determining a final execution scheme by combining the needle number, the model, the freezing time length and the path from the cryoablation needle to the needle distribution point, guiding and positioning the mechanical arm, and implementing the cryoablation operation according to the final execution scheme to finally finish the cryoablation operation.

In some embodiments, as shown in fig. 7, an exemplary flow chart of an ablation needle deployment method applied in a cryoablation system is shown, wherein a control trolley obtains a real-time ultrasonic image through real-time ultrasonic scanning, and the control trolley models based on the real-time ultrasonic image to obtain an ultrasonic three-dimensional model; leading in a nuclear magnetic three-dimensional model under an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model, and fusing the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model by a control trolley to obtain a fused three-dimensional model of the target object under the ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model; meanwhile, a needle distribution algorithm model of the control trolley obtains a plurality of needle distribution schemes by linear fitting of the cryoablation area; calculating the real-time position and the area size of an abnormal area in the fusion three-dimensional model calculated under an ultrasonic coordinate system and the cryoablation area corresponding to each needle distribution scheme to obtain ablation parameters covering the abnormal area, wherein the ablation parameters comprise the needle number, the model, the freezing duration and the needle point position corresponding to the cryoablation needle; determining a target needle distribution scheme according to the determined needle number, model and freezing time length corresponding to the cryoablation needle; according to the determined needle point position, automatically planning a needle point distribution path; according to the target needle distribution scheme, the machine positioning is realized, the target needle distribution scheme is implemented, the cryoablation needle is inserted into the needle distribution point, meanwhile, the cryoablation equipment freezes according to the freezing time length corresponding to the target needle distribution scheme, rewarming is implemented after freezing is finished, and then needle withdrawal of the cryoablation needle is implemented.

In the embodiment, a nuclear magnetic three-dimensional model of a target object and a real-time ultrasonic three-dimensional model are fused to obtain a fused three-dimensional model, the fused three-dimensional model comprises a real-time three-dimensional contour of the target object and a three-dimensional contour of an abnormal tissue, an abnormal region is converted into an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model, and the real-time position and the region size of the abnormal region are calculated under the ultrasonic coordinate system, so that the problem that the accuracy of cryoablation operation is reduced due to the fact that the abnormal tissue changes and the target needle distribution scheme finally determined through screening is not matched with the current abnormal image in the operation process is avoided.

In some embodiments, the needle placement scheme includes: single card clothing needle scheme and multi-card clothing needle scheme. The single needle cloth needle scheme comprises the needle number of the ablation needle, the effective needle tip length of the ablation needle, the ablation time length, the cloth needle point position of the ablation needle and the size of a single needle ablation area. The multiple needle arrangement includes the number of needles of the ablation needle, the effective needle tip length of each ablation needle, the length of ablation time of each ablation needle, the needle arrangement location of each ablation needle, and the size of the multiple needle ablation zone. As shown in fig. 8, based on the tissue parameters of the target object and the needle number, the working time length parameters and the physical parameters of the ablation needle, simulation is performed to generate a plurality of needle distribution schemes under different needle number scenes, which comprises the following steps:

Step 802, generating a plurality of single needle cloth needle schemes under different working time parameters by a single ablation needle based on different physical parameters under the tissue parameters of a target object.

Taking a cryoablation needle as an example, an ablation area generated by the cryoablation needle refers to an elliptical area with the temperature of less than-40 ℃, as shown in a solid line central area in fig. 9. As shown in fig. 10, cryoablation needles having effective needle tip lengths of 5mm, 15mm and 30mm in this order from left to right produce cryoablation zones, such as the solid central zone in fig. 10, when the cryoablation duration is 5min, 10min and 15min, respectively.

Under the tissue parameters of a target object, single ablation needles based on different physical parameters are simulated in different working time length parameters to obtain a plurality of single-needle cloth needle schemes, and the simulated ablation needle ice ball ablation area is the transverse diameter and the longitudinal diameter of an ablation area formed by acquiring each model (effective length, thermal conductivity and rigidity of a needle point) in different ablation time lengths (1 min intervals). As shown in fig. 11, the solid line area in fig. 11 is a cryoablation area generated when the cryoablation time of the cryoablation needle is 5min, the middle dotted line area is a cryoablation area generated when the cryoablation time of the same cryoablation needle is 10min, the outermost dotted line area is a cryoablation area generated when the cryoablation time of the same cryoablation needle is 15min, and the point P represents that the cryoablation time is 15min Calculating the distance l between P and the surface of the cryoablation area corresponding to 5min at one point on the boundary of the cryoablation area corresponding to any time of 5min to 10min₁ And a distance l from P to 10min corresponding to the surface of the cryoablation zone₂ The method comprises the steps of carrying out a first treatment on the surface of the The transverse diameter and the longitudinal diameter of the cryoablation area where the P point is located are respectively as follows:

wherein T is_XP And T_YP Respectively representing the transverse diameter and the longitudinal diameter of the cryoablation area where the P point is located; x is X₅ And Y₅ Respectively representing the transverse diameter and the longitudinal diameter of the cryoablation area corresponding to 5 min; x is X₁₀ And Y₁₀ The transverse and longitudinal diameters of the cryoablation zone corresponding to 10min are shown, respectively.

Optionally, the console can simulate a plurality of single-needle ablation areas generated by single ablation needles with different effective lengths of needle points under the scene of different ablation time lengths through the algorithm for calculating the transverse diameter and the longitudinal diameter of the cryoablation area where the P point is located, wherein the single-needle ablation areas refer to the ablation areas generated by one ablation needle; the console generates a single needle cloth needle scheme corresponding to the single needle ablation region according to the needle number of the ablation needle corresponding to the single needle ablation region, the effective needle tip length of the ablation needle, the ablation time length, the cloth needle point position of the ablation needle and the size of the single needle ablation region.

At step 804, at least two identical or different single-card clothing needle schemes are superimposed to obtain a plurality of multi-card clothing needle schemes.

Wherein, the multi-needle ablation area refers to an ablation area generated by a plurality of ablation needles under different ablation time periods. Because the temperatures of the temperature values are smaller than-40 ℃ and are effective temperatures, the ice ball ablation areas formed by the effective length of the needle tip and the ablation time length can be selected to be overlapped, the areas of the overlapped areas with the temperatures smaller than-40 ℃ are multi-needle ablation areas, and the multi-needle ablation areas can cover larger abnormal areas.

Obtaining a plurality of single-needle ablation areas by step 802, and selecting at least two identical or different single-needle ablation areas from the plurality of single-needle ablation areas to be overlapped, so that the obtained multi-needle ablation area comprises at least two cases, wherein the first case multi-needle ablation area is formed by overlapping at least two identical single-needle ablation areas, and as shown in fig. 12, the multi-needle ablation area is formed by overlapping the same effective length of a needle point and the same ablation duration; in the second case, the multi-needle ablation area is formed by superposing at least two different single-needle ablation areas, and the multi-needle ablation area can be formed by superposing at least two single-needle ablation areas with the same type of ablation needle and different ablation time lengths; the single-needle ablation area with at least two different ablation needles and the same ablation duration can be formed by superposition; the single-needle ablation region is formed by overlapping at least two different ablation needle types and different ablation time lengths.

It should be noted that: when at least two single-needle ablation areas are overlapped, an overlapping area is needed between the at least two single-needle ablation areas, and the needle tip positions of the at least two single-needle ablation areas cannot be completely overlapped. When simulation is carried out, the overlapping distance of at least two single-needle ablation areas can be ensured to meet the requirement by limiting the distance range of the needle tip positions of the overlapping single-needle ablation areas.

Optionally, the console selects at least two identical or different single-needle ablation areas from the multiple ablation areas obtained in step 802 to be overlapped, and in the overlapping process, the distance between the needle tip positions of the adjacent single-needle ablation areas is ensured to meet the overlapping requirement, so that multiple multi-needle ablation areas are obtained. And generating a multi-needle cloth needle scheme corresponding to the multi-needle ablation region according to the needle number of the ablation needles corresponding to the multi-needle ablation region, the effective needle tip length of each ablation needle, the ablation time length of each ablation needle, the needle distribution point position of each ablation needle and the size of the multi-needle ablation region.

In this embodiment, the ablation area generated by the ablation needle in different ablation time periods is simulated for the ablation needles with different needle tip effective lengths, a final needle distribution scheme is not required to be obtained by repeatedly inserting and extracting the ablation needles, a complete needle distribution scheme can be planned at one time in a simulation mode, the number of the ablation needles, the type (the needle tip effective length, the thermal conductivity and the rigidity) of the ablation needles, the ablation time period and the needle distribution point position of the ablation needles are included, the damage caused by repeatedly inserting and extracting the needles in the needle distribution process is avoided, normal tissue is avoided when the needle is inserted, and the needle insertion efficiency and the safety of cryoablation operation on a target object are improved.

In one embodiment, to obtain the optimal needle placement scheme as the target needle placement scheme, the present embodiment employs a genetic algorithm to screen the target needle placement scheme from the plurality of pre-selected needle placement schemes obtained in the above-described embodiments. Specifically, as shown in fig. 13, the method comprises the following steps:

step 1302, initializing a plurality of needle distribution schemes, and taking the plurality of needle distribution schemes as parents.

Optionally, the console obtains the size of the abnormal region under the ultrasonic coordinate system, and through simulating cryoablation needles with different effective needle tip lengths and different freezing durations, obtains a plurality of needle distribution schemes generated under the scenes with different needle numbers, and randomly initializes each ablation region on the assumption that the number of the needle distribution schemes is N.

At step 1304, a plurality of offspring is generated from the plurality of needle placement schemes by a mutation operator of the genetic algorithm.

Step 1306, selecting a plurality of individuals from the father and the offspring as the next generation according to the fitness of each father and offspring, and screening the optimal solution in the acquired next generation.

Optionally, the console selects better N individuals from the parent and the offspring as the next generation according to the adaptability of each parent and the offspring, and screens the optimal solution in the acquired next generation; the number of needles, the type of ablation needles (effective length, thermal conductivity and rigidity of the needle tip), the duration of ablation and the position of the needle distribution point corresponding to the optimal solution are recorded.

Step 1308, if the needle arrangement scheme corresponding to the optimal solution does not meet the preset screening condition, returning to the step of executing the mutation operator of the genetic algorithm to generate a plurality of filings from the plurality of needle arrangement schemes, and continuing to execute until the needle arrangement scheme corresponding to the optimal solution meets the preset screening condition, judging that the needle arrangement scheme corresponding to the optimal solution is the optimal needle arrangement scheme, and taking the optimal needle arrangement scheme as the target needle arrangement scheme.

In some embodiments, the console may completely cover the ablation region with the abnormal region, and the needle placement scheme with the smallest coverage area of the normal region corresponding to the normal tissue in the medical image of the target object is used as a pre-selected needle placement scheme; removing ablation areas corresponding to the preselected needle distribution schemes from the population, returning to execute the step of generating N filial generations through mutation operators of the genetic algorithm, and continuing to execute until 3-4 preselected needle distribution schemes are selected; and taking the preselected needle arrangement scheme with the least ablation needles in which the path from the needle arrangement point position to the abnormal region does not pass through the important organs of the target object as the target needle arrangement scheme, and finally outputting the target needle arrangement scheme.

In some embodiments, according to the fitness of each parent and offspring, selecting a plurality of individuals from the parent and offspring as the next generation, and selecting the optimal solution in the obtained next generation, including the steps of:

Step 1, determining coverage rate between an ablation area corresponding to each needle distribution scheme and a medical image of a target object.

The coverage rate comprises a normal area coverage rate corresponding to normal tissues in the medical image of the target object and an abnormal area coverage rate corresponding to abnormal tissues in the medical image of the target object.

And 2, calculating the fitness of the coverage rate corresponding to each needle distribution scheme and the average value of the fitness of the needle distribution scheme.

Optionally, the console calculates the fitness eval (Vi) of the cryoablation area coverage corresponding to each needle deployment protocol; wherein eval represents fitness; vi denotes the ith needle arrangement scheme, i=1, …, N. The control console calculates the total fitness of the cryoablation area coverage rate corresponding to all the needle distribution schemes, wherein the total fitness is as follows:

according to the general adaptationAnd determining the fitness average value of the needle distribution scheme according to the fitness and the number of the needle distribution schemes.

And step 3, taking a plurality of needle distribution schemes with the fitness being larger than the average value of the fitness as the next generation, carrying out cross mutation on the next generation, returning to the step of determining the coverage rate between the ablation area corresponding to each needle distribution scheme and the medical image of the target object, and continuing to execute until the optimal solution is output.

As shown in fig. 14, selecting a needle arrangement scheme corresponding to a cryoablation region from N needle arrangement schemes, after fitness calculation and comparison, the needle arrangement scheme meeting fitness greater than the average fitness is 3 needles, the effective length of the needle tip of each cryoablation needle is 5mm, the freezing duration is 8min, then performing self-adaptive calculation, judging whether the cryoablation region corresponding to the needle arrangement scheme meets the requirement that the cryoablation region completely covers an abnormal region and the coverage area of the normal region corresponding to normal tissue in a medical image of a target object is minimum, if not, iterating, and performing variation on the freezing duration of a single cryoablation needle through a genetic algorithm.

In some examples, as shown in fig. 15, determining coverage between the ablation region corresponding to each needle placement protocol and the medical image of the target object includes:

step 1502, dividing a fused three-dimensional model corresponding to a target object into a plurality of cubes, configuring a first label for the cubes containing normal areas, and configuring a second label for the cubes containing abnormal areas; the first label is used for indicating that the cube contains a normal area; the second label indicates that the cube contains an anomaly region.

Alternatively, as shown in fig. 16, a rectangular block shown on the left side of fig. 16 is a simplified diagram of a fused three-dimensional model of a target object, dividing the fused three-dimensional model into a plurality of cubes, such as the cubes shown on the right side of fig. 16. The fused three-dimensional model is segmented in an ultrasound coordinate system into cubes small enough, e.g., 0.01ML, with each cube configured with a tag a. Replacing a label a of a cube containing an abnormal area in the fusion three-dimensional model with a label b, wherein the remaining cubes with the label a are cubes containing normal areas; i.e. tag a is a first tag and tag b is a second tag.

Step 1504, covering the ablation area corresponding to each needle distribution scheme in the abnormal area of the fusion three-dimensional model, replacing the second label of the cube covered by the ablation area with a third label, and replacing the first label of the cube covered by the ablation area with a fourth label; a third label is used for indicating that the abnormal area contained in the cube is covered by the ablation area; a fourth label is used to indicate that the normal area encompassed by the cube is covered by the ablated area.

Optionally, in the calculation process of the genetic algorithm, the console covers the ablation area corresponding to the needle deployment scheme to the abnormal area fused with the three-dimensional model along with the variation of the ablation area, as shown in fig. 17, the second label (i.e. label b) of the cube covered by the ablation area is replaced by a third label (i.e. label d), and the first label (i.e. label a) of the cube covered by the ablation area is replaced by a fourth label (i.e. label c).

It should be noted that: in this embodiment, in the area with more labels b, the parameters around the variation are prioritized, so that the iteration times are reduced, and the operation time is improved.

Step 1506, counting the number of the second labels and the fourth labels in the fusion three-dimensional model after the ablation areas corresponding to the needle distribution schemes are covered to the abnormal areas of the fusion three-dimensional model.

If the number of the second labels in the fusion three-dimensional model is 0, the ablation area is indicated to completely cover the abnormal area; if the number of the fourth labels is the smallest, the coverage area of the ablation area and the normal area corresponding to the normal tissue in the medical image of the target object is the smallest.

Optionally, the console covers the ablation area corresponding to each needle distribution scheme to the abnormal area fused with the three-dimensional model, and counts the number of various labels corresponding to each needle distribution scheme after replacing the labels of the cube according to the coverage condition of the ablation area.

Step 1508, determining a coverage between the ablation region corresponding to each needle placement protocol and the medical image of the target object based on the number of second and fourth labels.

Wherein the second label (i.e. label b) indicates that the cubes contain an abnormal region, and if all labels b are replaced with labels d after the labels of the cubes are replaced, the ablation region completely covers the abnormal region; if the label b is still present after label replacement for each cube, it is indicated that the ablation zone does not completely cover the abnormal zone. A fourth label (i.e., label c) indicates that the normal area contained in the cube is covered by the ablation area, i.e., indicates that the ablation area damages the normal area; if the number of labels c is minimal, it is indicated that the ablation zone has minimal damage to normal tissue.

Optionally, the console determines coverage of the ablation region over the abnormal region according to a ratio between the number of third labels and the total number of cubes; and determining the coverage rate of the ablation region covering the normal region according to the ratio between the number of the fourth labels and the total number of the cubes.

In some embodiments, fitting the ablation region to the positions and sizes of a plurality of abnormal regions of the target object to obtain a plurality of needle distribution schemes; and (3) based on the optimal calculation of the genetic algorithm, calculating the coverage rate of the ablation area and the abnormal area, and obtaining an optimal needle distribution scheme corresponding to each abnormal area. As shown in fig. 18, if the target object includes a first abnormal region and a second abnormal region, the first abnormal region and the second abnormal region are calculated and compared with a plurality of pre-fitted needle arrangement schemes, respectively, and an optimal solution corresponding to each abnormal region is found based on a genetic algorithm. If the cryoablation area of the target needle deployment scheme corresponding to the optimal solution is formed by one cryoablation needle, the area of the abnormal area is smaller, the target needle deployment scheme is a single needle deployment scheme, the cryoablation area corresponding to the target needle deployment scheme is covered to the abnormal area, the position of the needle point in the cryoablation area in the abnormal area is marked as a needle deployment point position, and the needle deployment is performed according to the model (needle point effective length, thermal conductivity and rigidity), the freezing time and the needle deployment point position of one cryoablation needle and the cryoablation needle corresponding to the target needle deployment scheme. If the cryoablation area of the target needle arrangement scheme corresponding to the optimal solution is formed by a plurality of cryoablation needles, the fact that the area of the abnormal area is larger is indicated, the target needle arrangement scheme is a multi-needle arrangement scheme, the cryoablation area corresponding to the target needle arrangement scheme is covered to the abnormal area, a plurality of needle points in the cryoablation area are marked as needle arrangement point positions at each position of the abnormal area, and the needle arrangement is carried out according to the plurality of cryoablation needles corresponding to the target needle arrangement scheme, the needle point effective lengths of the plurality of cryoablation needles, the plurality of freezing times and the plurality of needle arrangement point positions.

If the first abnormal region and the second abnormal region of the target object are as shown in fig. 19, the target needle arrangement scheme determined by the flow shown in fig. 18 is as follows:

in this embodiment, the fused three-dimensional model corresponding to the target object is divided into a plurality of cubes, the ablation area corresponding to the needle distribution scheme is covered to the abnormal area of the fused three-dimensional model, the coverage condition of the ablation area is represented by adopting a label replacement mode, and whether the ablation area corresponding to the current needle distribution scheme meets the requirement or not and the coverage condition of the ablation area and the abnormal area and the damage condition of the ablation area to normal tissues can be rapidly and accurately judged according to the number of the second labels indicating that the abnormal area is covered by the ablation area and the number of the fourth labels indicating that the normal area is covered by the ablation area.

In one embodiment, as shown in fig. 20, after determining the target needle arrangement scheme, the console guides the mechanical arm to execute the operation on the target object according to the target needle arrangement scheme, and specifically includes the following steps:

step 2002, determining the model of the target ablation needle loaded at the tail end of the mechanical arm according to the physical parameters of the ablation needle in the target needle distribution scheme.

Wherein the physical parameters of the ablation needle are associated with the type of the ablation needle, and the physical parameters of the ablation needle are different for different types of ablation needles. As shown in fig. 21, the number of needles, the type (i.e., the effective length, the thermal conductivity, and the rigidity of the needle tip) of the cryoablation needle are determined according to the target needle deployment scheme, and the operation subject selects the same type of cryoablation needle as the target needle deployment scheme and inserts the cryoablation needle into the needle deployment point.

It should be noted that: the type of the ablation needle can be determined according to the effective length of the needle point, the type of the target ablation needle can be determined according to the effective length of the needle point before needle insertion, and the target ablation needle is loaded at the tail end of the mechanical arm.

In step 2004, the target ablation needle is inserted into the needle distribution point corresponding to the target needle distribution scheme through the guiding and positioning of the mechanical arm, the needle point moving path of the target ablation needle is tracked in real time, and the needle point moving path of the target ablation needle is adjusted according to the deviation between the needle point position of the target ablation needle and the needle distribution point until the needle point position of the target ablation needle coincides with the needle distribution point.

If the target needle arrangement is a single needle arrangement, the target needle arrangement has only one needle arrangement point. If the target stitch scheme is a multi-needle stitch scheme, the target stitch scheme has a plurality of stitch points.

The mechanical arm guiding positioning refers to the position and the posture required by the mechanical arm when the mechanical arm executes to the needle distribution point. As shown in fig. 22, according to the mark point of the needle tip of the ultrasonic two-dimensional image, the moving path of the needle tip can be tracked, so that the needle insertion track of the cryoablation needle is detected; precisely inserting the cryoablation needle into the needle distribution point through the guidance of machine positioning; after needle insertion is completed, the marked point of the needle point of the ultrasonic two-dimensional image is compared with the needle distribution point, the deviation between the actual and the planned is judged, and the error is prevented from being overlarge.

Optionally, the mechanical arm is loaded with an ultrasonic probe, in the process of inserting the target ablation needle into a needle distribution point corresponding to a target needle distribution scheme, the console acquires an ultrasonic two-dimensional image containing a target object and the ablation needle, the ultrasonic two-dimensional image is calibrated with an actual object, and then a mechanical arm coordinate system corresponding to the mechanical arm is converted into an ultrasonic coordinate system, so that the relative position relation between the needle distribution point and the mechanical arm is acquired, and the needle point movement path of the target ablation needle is tracked in real time, so that the needle insertion track of the cryoablation needle is detected; if the deviation between the needle point position of the target ablation needle and the needle distribution point is not in accordance with the requirements, the needle point moving path of the target ablation needle is adjusted until the needle point position of the target ablation needle coincides with the needle distribution point.

And 2006, executing operation on the target object according to the working time length parameter corresponding to the target needle arrangement scheme, and detecting consistency between an ablation area generated in the process of executing operation and the ablation area corresponding to the target needle arrangement scheme.

Optionally, if the deviation between the needle point position of the target ablation needle and the needle distribution point is within an error range, setting the cryoablation time length of each cryoablation needle according to the cryoablation time length of the cryoablation needle in the target needle distribution scheme after all the cryoablation needles are inserted into the needle distribution point, comparing the puck contour and the cryoablation area of the ultrasonic image after starting freezing, detecting the puck consistency, and outputting through modes such as sound, light, interactive interface popup window display and the like if the puck contour and the cryoablation area are inconsistent.

Step 2008, if the generated consistency between the ablation area and the ablation area corresponding to the target needle deployment scheme meets the requirement, and the working time length parameter of the target ablation needle is consistent with the working time length parameter corresponding to the target needle deployment scheme, executing the needle retracting operation of the target ablation needle through the mechanical arm.

Wherein, after the freezing is finished, the temperature is reset and the needle is withdrawn.

In the embodiment, through detecting the needle insertion track of the ablation needle in real time, after the needle insertion is accurately completed, the marking point and the needle distribution point of the needle point of the ultrasonic two-dimensional image are compared, the deviation between the actual and the planned is judged, and the error is prevented from being overlarge; after the freezing is started, the outline of the ice ball of the ultrasonic image is compared with the ablation area, and the consistency of the ice ball is detected, so that the ablation area completely covers the abnormal area, normal tissues are prevented from being damaged, and accurate cryoablation operation is realized.

In one embodiment, the most detailed steps of an ablation needle deployment method are provided, comprising the steps of:

step 1, respectively carrying out three-dimensional modeling on a nuclear magnetic image and a real-time ultrasonic image of a target object to obtain a nuclear magnetic three-dimensional model and a real-time ultrasonic three-dimensional model of the target object; the nuclear magnetic three-dimensional model comprises a three-dimensional contour of a target object and a three-dimensional contour of abnormal tissues; the ultrasound three-dimensional model includes a real-time three-dimensional contour of the target object.

Step 2, translating and/or rotating a nuclear magnetic coordinate system corresponding to the nuclear magnetic three-dimensional model until the center of the nuclear magnetic coordinate system coincides with the center of the ultrasonic coordinate system, and each axial direction of the nuclear magnetic coordinate system coincides with each axial direction of the ultrasonic coordinate system, and synchronously adjusting the three-dimensional contour of a target object in the nuclear magnetic three-dimensional model to coincide with the real-time three-dimensional contour of the target object in the ultrasonic three-dimensional model to obtain a fused three-dimensional model under the ultrasonic coordinate system; the fusion three-dimensional model comprises a real-time three-dimensional contour of the target object and a three-dimensional contour of the abnormal tissue.

And 3, taking the position and the region of the three-dimensional outline of the abnormal tissue in the fused three-dimensional model under the ultrasonic coordinate system as an abnormal region corresponding to the abnormal tissue.

And 4, under the tissue parameters of the target object, simulating the single ablation needle based on different physical parameters in different working time parameters to obtain a plurality of single-needle cloth needle schemes.

And 5, superposing at least two identical or different single-card clothing needle schemes to obtain a plurality of multi-card clothing needle schemes.

And step 6, initializing a plurality of needle distribution schemes, and taking the plurality of needle distribution schemes as parents.

And 7, generating a plurality of filial generation from a plurality of needle distribution schemes through mutation operators of the genetic algorithm.

Dividing a fusion three-dimensional model corresponding to a target object into a plurality of cubes, configuring a first label for the cubes containing normal areas, and configuring a second label for the cubes containing abnormal areas; the first label is used for indicating that the cube contains a normal area; the second label indicates that the cube contains an anomaly region.

Step 8, covering the ablation area corresponding to each needle distribution scheme in the abnormal area of the fusion three-dimensional model, replacing the second label of the cube covered by the ablation area with a third label, and replacing the first label of the cube covered by the ablation area with a fourth label; a third label is used for indicating that the abnormal area contained in the cube is covered by the ablation area; a fourth label is used to indicate that the normal area encompassed by the cube is covered by the ablated area.

And 9, counting the number of the second labels and the fourth labels in the fusion three-dimensional model after the ablation areas corresponding to the needle distribution schemes are covered to the abnormal areas of the fusion three-dimensional model.

And step 10, determining the coverage rate between the ablation area corresponding to each needle distribution scheme and the medical image of the target object based on the number of the second labels and the fourth labels.

And 11, calculating the fitness of the coverage rate corresponding to each needle distribution scheme and the average value of the fitness of the needle distribution scheme.

And step 12, taking a plurality of needle distribution schemes with the fitness being larger than the average value of the fitness as the next generation, carrying out cross mutation on the next generation, returning to the step of determining the coverage rate between the ablation area corresponding to each needle distribution scheme and the medical image of the target object, and continuing to execute until the optimal solution is output.

And step 13, if the needle distribution scheme corresponding to the optimal solution does not meet the preset screening conditions, returning to the step of executing a plurality of offspring generated from the plurality of needle distribution schemes through a mutation operator of the genetic algorithm, and continuing to execute until the needle distribution scheme corresponding to the optimal solution meets the preset screening conditions, judging that the needle distribution scheme corresponding to the optimal solution is the optimal needle distribution scheme, and taking the optimal needle distribution scheme as the target needle distribution scheme.

And 14, determining the model of the target ablation needle loaded at the tail end of the mechanical arm according to the physical parameters of the ablation needle in the target needle distribution scheme.

And 15, guiding and positioning by a mechanical arm, inserting the target ablation needle into a needle distribution point corresponding to the target needle distribution scheme, tracking the needle point movement path of the target ablation needle in real time, and adjusting the needle point movement path of the target ablation needle according to the deviation between the needle point position of the target ablation needle and the needle distribution point until the needle point position of the target ablation needle coincides with the needle distribution point.

And step 16, executing operation on the target object according to the working time length parameter corresponding to the target needle arrangement scheme, and detecting consistency between an ablation area generated in the process of executing operation and the ablation area corresponding to the target needle arrangement scheme.

And step 17, if the consistency between the generated ablation area and the ablation area corresponding to the target needle deployment scheme meets the requirement, and the working time length parameter of the target ablation needle is consistent with the working time length parameter corresponding to the target needle deployment scheme, executing the needle withdrawing operation of the target ablation needle through the mechanical arm.

According to the embodiment, the needle distribution scheme is automatically planned according to the size of the abnormal region, and comprises the number of ablation needles, the effective length of the needle points and the ablation time length, and the needle point position of each ablation needle, so that the influence of different planning schemes of different doctors is eliminated, and the consistency of operation is ensured; according to the volume of the abnormal region, the effective treatment region of cryoablation is enabled to completely cover the abnormality, meanwhile, normal tissues are prevented from being damaged, and accurate operation is achieved.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides an ablation needle distribution system for realizing the above-mentioned related ablation needle distribution method. The implementation of the solution provided by the device is similar to that described in the above method, so specific limitations in one or more embodiments of the ablation needle deployment system provided below may be found in the limitations of the ablation needle deployment method described above, and are not repeated here.

In one embodiment, an ablation needle deployment system is provided, comprising: a console, a robotic arm, and a cryoablation device, wherein:

the control console is used for acquiring an abnormal region corresponding to the abnormal tissue in the medical image of the target object;

simulating based on the tissue parameters of the target object, the needle number of the ablation needle, the working time length parameters and the physical parameters, and generating a plurality of needle distribution schemes under different needle number scenes;

determining an optimal needle distribution scheme from a plurality of needle distribution schemes based on preset screening conditions, and taking the optimal needle distribution scheme as a target needle distribution scheme;

loading an ablation needle by the mechanical arm, and inserting the ablation needle to a needle distribution point;

the cryoablation apparatus is used to energize the ablation needle.

In one embodiment, the console is further configured to: respectively carrying out three-dimensional modeling on the nuclear magnetic image and the real-time ultrasonic image of the target object to obtain a nuclear magnetic three-dimensional model and a real-time ultrasonic three-dimensional model of the target object; the nuclear magnetic three-dimensional model comprises a three-dimensional contour of a target object and a three-dimensional contour of abnormal tissues; the ultrasonic three-dimensional model comprises a real-time three-dimensional contour of the target object;

fusing the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model to obtain a fused three-dimensional model of the target object under an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model; the fusion three-dimensional model comprises a real-time three-dimensional contour of the target object and a three-dimensional contour of abnormal tissue;

And taking the position and the region of the three-dimensional outline of the abnormal tissue in the fused three-dimensional model under the ultrasonic coordinate system as an abnormal region corresponding to the abnormal tissue.

In one embodiment, the console is further configured to: translating and/or rotating a nuclear magnetic coordinate system corresponding to the nuclear magnetic three-dimensional model until the center of the nuclear magnetic coordinate system coincides with the center of the ultrasonic coordinate system, and each axial direction of the nuclear magnetic coordinate system coincides with each axial direction of the ultrasonic coordinate system, and synchronously adjusting the three-dimensional contour of the target object in the nuclear magnetic three-dimensional model to coincide with the real-time three-dimensional contour of the target object in the ultrasonic three-dimensional model to obtain a fused three-dimensional model under the ultrasonic coordinate system.

In one embodiment, the console is further configured to: under the tissue parameters of a target object, single ablation needles based on different physical parameters simulate different working time parameters to obtain a plurality of single-needle cloth needle schemes;

and superposing at least two identical or different single-card clothing needle schemes to obtain a plurality of multi-card clothing needle schemes.

In one embodiment, the console is further configured to: initializing a plurality of needle distribution schemes, and taking the plurality of needle distribution schemes as a parent;

generating a plurality of filial generations from a plurality of needle distribution schemes by a mutation operator of a genetic algorithm;

Selecting a plurality of individuals from the father and the offspring as the next generation according to the fitness of each father and the offspring, and screening the optimal solution in the acquired next generation;

if the needle distribution scheme corresponding to the optimal solution does not meet the preset screening conditions, returning to execute the step of generating a plurality of filings from the plurality of needle distribution schemes through a mutation operator of the genetic algorithm, and continuing to execute until the needle distribution scheme corresponding to the optimal solution meets the preset screening conditions, judging that the needle distribution scheme corresponding to the optimal solution is the optimal needle distribution scheme, and taking the optimal needle distribution scheme as the target needle distribution scheme.

In one embodiment, the console is further configured to: determining coverage rate between an ablation area corresponding to each needle distribution scheme and a medical image of a target object;

calculating the fitness of the coverage rate corresponding to each needle distribution scheme and the average value of the fitness of the needle distribution scheme;

taking a plurality of needle distribution schemes with the fitness being larger than the average value of the fitness as the next generation, carrying out cross mutation on the next generation, returning to the step of determining the coverage rate between the ablation area corresponding to each needle distribution scheme and the medical image of the target object, and continuing to execute until the optimal solution is output.

In one embodiment, the console is further configured to: dividing a fusion three-dimensional model corresponding to a target object into a plurality of cubes, configuring a first label for the cubes containing normal areas, and configuring a second label for the cubes containing abnormal areas; the first label is used for indicating that the cube contains a normal area; the second label indicates that the cube contains an abnormal area;

Covering the ablation area corresponding to each needle distribution scheme into an abnormal area fused with the three-dimensional model, replacing a second label of the cube covered by the ablation area with a third label, and replacing a first label of the cube covered by the ablation area with a fourth label; a third label is used for indicating that the abnormal area contained in the cube is covered by the ablation area; a fourth label is used to indicate that the normal area contained by the cube is covered by the ablated area;

counting the number of second labels and fourth labels in the fusion three-dimensional model after the ablation areas corresponding to the needle distribution schemes are covered to the abnormal areas of the fusion three-dimensional model;

and determining the coverage rate between the ablation area corresponding to each needle distribution scheme and the medical image of the target object based on the number of the second labels and the fourth labels.

In one embodiment, the console is further configured to: determining the model of a target ablation needle loaded at the tail end of the mechanical arm according to physical parameters of the ablation needle in the target needle distribution scheme;

guiding and positioning by a mechanical arm, inserting a target ablation needle into a needle distribution point corresponding to a target needle distribution scheme, tracking the needle point movement path of the target ablation needle in real time, and adjusting the needle point movement path of the target ablation needle according to the deviation between the needle point position of the target ablation needle and the needle distribution point until the needle point position of the target ablation needle coincides with the needle distribution point;

Executing operation on the target object according to the working time length parameter corresponding to the target needle arrangement scheme, and detecting consistency between an ablation area generated in the process of executing operation and the ablation area corresponding to the target needle arrangement scheme;

and if the consistency between the generated ablation area and the ablation area corresponding to the target needle deployment scheme meets the requirement, and the working time length parameter of the target ablation needle is consistent with the working time length parameter corresponding to the target needle deployment scheme, executing the needle withdrawing operation of the target ablation needle through the mechanical arm.

The various modules in the ablation needle distribution system described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to comply with the related laws and regulations and standards of the related countries and regions.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, pmm), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims (11)

1. An ablation needle deployment method, the method comprising:

acquiring an abnormal region corresponding to an abnormal tissue in a medical image of a target object;

simulating based on the tissue parameters of the target object, the needle number of the ablation needle, the working time length parameters and the physical parameters, and generating a plurality of needle distribution schemes under different needle number scenes;

based on preset screening conditions, an optimal needle distribution scheme is determined from a plurality of needle distribution schemes and is used as a target needle distribution scheme.

2. The method according to claim 1, wherein the acquiring the abnormal region corresponding to the abnormal tissue in the medical image of the target object comprises:

respectively carrying out three-dimensional modeling on the nuclear magnetic image and the real-time ultrasonic image of the target object to obtain a nuclear magnetic three-dimensional model and a real-time ultrasonic three-dimensional model of the target object; the nuclear magnetic three-dimensional model comprises a three-dimensional contour of the target object and a three-dimensional contour of the abnormal tissue; the ultrasonic three-dimensional model comprises a real-time three-dimensional contour of the target object;

fusing the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model to obtain a fused three-dimensional model of the target object under an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model; the fusion three-dimensional model comprises a real-time three-dimensional contour of the target object and a three-dimensional contour of the abnormal tissue;

and taking the position and the area of the three-dimensional outline of the abnormal tissue in the fused three-dimensional model under the ultrasonic coordinate system as an abnormal area corresponding to the abnormal tissue.

3. The method according to claim 2, wherein the elastically fusing the nuclear magnetic three-dimensional model and the ultrasonic three-dimensional model to obtain a fused three-dimensional model under an ultrasonic coordinate system corresponding to the ultrasonic three-dimensional model comprises:

And translating and/or rotating a nuclear magnetic coordinate system corresponding to the nuclear magnetic three-dimensional model until the center of the nuclear magnetic coordinate system coincides with the center of the ultrasonic coordinate system, and each axial direction of the nuclear magnetic coordinate system coincides with each axial direction of the ultrasonic coordinate system, and synchronously adjusting the three-dimensional contour of the target object in the nuclear magnetic three-dimensional model to coincide with the real-time three-dimensional contour of the target object in the ultrasonic three-dimensional model to obtain a fused three-dimensional model under the ultrasonic coordinate system.

4. The method of claim 1, wherein the needle placement scheme comprises: the single needle cloth needle scheme and the multi-needle cloth needle scheme, the simulation is performed based on the tissue parameters of the target object and the needle number, the working time length parameters and the physical parameters of the ablation needle, and a plurality of needle cloth needle schemes generated under different needle number scenes are generated, and the method comprises the following steps:

under the tissue parameters of the target object, single ablation needles based on different physical parameters simulate different working time parameters to obtain a plurality of single-needle cloth needle schemes;

and superposing at least two identical or different single-card clothing needle schemes to obtain a plurality of multi-card clothing needle schemes.

5. The method of claim 1, wherein the preset screening conditions include at least one of a first screening condition, a second screening condition, and a third screening condition; the first screening conditions are: the ablation area corresponding to the needle distribution scheme completely covers the abnormal area, and the coverage area of the normal area corresponding to the normal tissue in the medical image of the target object is smaller than a preset value; the second screening condition is that the path from the needle distribution point position corresponding to the needle distribution scheme to the abnormal region does not pass through the important organ of the target object; the third screening condition is that the number of the ablation needles corresponding to the needle distribution scheme is minimum.

6. The method according to claim 1 or 5, wherein the determining an optimal needle arrangement scheme from a plurality of needle arrangement schemes as a target needle arrangement scheme based on a preset screening condition comprises:

initializing a plurality of needle distribution schemes, and taking the plurality of needle distribution schemes as a parent;

generating a plurality of filial generations from a plurality of needle distribution schemes by a mutation operator of a genetic algorithm;

selecting a plurality of individuals from the father and the offspring as the next generation according to the fitness of each father and the offspring, and screening the optimal solution in the acquired next generation;

If the needle distribution scheme corresponding to the optimal solution does not meet the preset screening conditions, returning to the step of executing the mutation operator of the genetic algorithm to generate a plurality of filings from the plurality of needle distribution schemes, and continuing to execute until the needle distribution scheme corresponding to the optimal solution meets the preset screening conditions, judging that the needle distribution scheme corresponding to the optimal solution is the optimal needle distribution scheme, and taking the optimal needle distribution scheme as the target needle distribution scheme.

7. The method of claim 6, wherein selecting a plurality of individuals from the parent and the offspring as the next generation according to the fitness of each parent and offspring, and selecting the optimal solution from the acquired next generation comprises:

determining coverage rate between an ablation area corresponding to each needle distribution scheme and the medical image of the target object;

calculating the fitness of the coverage rate corresponding to each needle distribution scheme and the average value of the fitness of the needle distribution scheme;

taking a plurality of needle distribution schemes with the fitness being larger than the average value of the fitness as the next generation, carrying out cross mutation on the next generation, returning to the step of determining the coverage rate between the ablation area corresponding to each needle distribution scheme and the medical image of the target object, and continuing to execute until the optimal solution is output.

8. The method of claim 7, wherein determining coverage between the ablation region corresponding to each needle placement protocol and the medical image of the target object comprises:

dividing the fusion three-dimensional model corresponding to the target object into a plurality of cubes, configuring a first label for the cubes containing the normal region, and configuring a second label for the cubes containing the abnormal region; the first label is used for indicating that the cube contains the normal area; the second label indicates that the cube contains the abnormal region;

covering an ablation area corresponding to each needle distribution scheme into an abnormal area of the fusion three-dimensional model, replacing a second label of the cube covered by the ablation area with a third label, and replacing the first label of the cube covered by the ablation area with a fourth label; the third label is used for indicating that the abnormal area contained by the cube is covered by the ablation area; the fourth label is used for indicating that the normal area contained by the cube is covered by the ablation area;

counting the number of the second labels and the fourth labels in the fusion three-dimensional model after the ablation areas corresponding to the needle distribution schemes are covered to the abnormal areas of the fusion three-dimensional model;

And determining the coverage rate between the ablation area corresponding to each needle distribution scheme and the medical image of the target object based on the number of the second labels and the fourth labels.

9. The method according to claim 1, wherein the method further comprises:

determining the model of the target ablation needle loaded at the tail end of the mechanical arm according to the physical parameters of the ablation needle in the target needle distribution scheme;

guiding and positioning through a mechanical arm, inserting the target ablation needle into a needle distribution point corresponding to the target needle distribution scheme, tracking the needle point movement path of the target ablation needle in real time, and adjusting the needle point movement path of the target ablation needle according to the deviation between the needle point position of the target ablation needle and the needle distribution point until the needle point position of the target ablation needle coincides with the needle distribution point;

executing operation on the target object according to the working time length parameter corresponding to the target needle arrangement scheme, and detecting consistency between an ablation area generated in the process of executing operation and the ablation area corresponding to the target needle arrangement scheme;

and if the consistency between the generated ablation area and the ablation area corresponding to the target needle deployment scheme meets the requirement, and the working time length parameter of the target ablation needle is consistent with the working time length parameter corresponding to the target needle deployment scheme, executing the needle withdrawing operation of the target ablation needle through the mechanical arm.

10. An ablation needle deployment system, the system comprising: a console, a robotic arm, and a cryoablation device;

the control console is used for acquiring an abnormal region corresponding to an abnormal tissue in the medical image of the target object;

acquiring an abnormal region corresponding to an abnormal tissue in a medical image of a target object;

simulating based on the tissue parameters of the target object, the needle number of the ablation needle, the working time length parameters and the physical parameters, and generating a plurality of needle distribution schemes under different needle number scenes;

determining an optimal needle distribution scheme from a plurality of needle distribution schemes based on preset screening conditions, and taking the optimal needle distribution scheme as a target needle distribution scheme;

loading an ablation needle by the mechanical arm, and inserting the ablation needle to a needle distribution point corresponding to the target needle distribution scheme;

the cryoablation apparatus is for energizing the ablation needle.

11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 9.

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