Disclosure of Invention
In view of the above, the application provides a composite physical field self-adaptive ablation system and device based on an integrated single needle, which can adaptively emit various physical field energies through the integrated single electrode needle, and simultaneously solve the problems of parallel needle operation and hemostasis/implantation risk.
The application provides a composite physical field self-adaptive ablation system based on an integrated single needle, which comprises an integrated single needle module, a composite physical field energy generation module, a self-adaptive regulation and control module and an ablation parameter determination module;
the integrated single-needle module comprises an integrated electrode needle, the integrated electrode needle comprises a plurality of electrode groups of different types and is used for transmitting different energy generated by the composite physical field energy generation module to a target ablation area so as to realize accurate ablation of the composite physical field;
The composite physical field energy generation module is used for determining a target ablation method through an ablation treatment time sequence function, determining a target energy type according to the target ablation method, generating energy according to ablation parameters corresponding to the target energy type, and transmitting the energy to the target ablation area through an integrated electrode to perform ablation treatment;
The self-adaptive regulation and control module is used for monitoring the target ablation area through real-time images and adjusting the ablation treatment time sequence function according to the monitoring result;
The ablation parameter determination module is used for determining the ablation parameters of the target ablation method through preoperative information and intra-operative images of the target patient, and sending the ablation parameters to the composite physical field energy generation module, so that the composite physical field energy generation module generates energy according to the ablation parameters.
Optionally, the electrode groups of different types include a radio frequency electrode group and a pulsed electric field electrode group;
The method for determining target ablation by using an ablation treatment time sequence function comprises the following steps:
determining that the ablation treatment time sequence function comprises a radio frequency ablation time sequence function and a pulse electric field ablation time sequence function according to the type of the electrode group, and determining that the radio frequency ablation time sequence function isThe pulse electric field ablation time sequence function is that;
Determining the saidAndWhen the value of (1)When the RF electrode group emits energy, when the RF electrode groupEnergy is emitted through the pulsed electric field electrode set.
Optionally, the composite physical field energy generating module comprises a power module, a control module, a plurality of different energy driving modules, a plurality of different energy generating modules, an output switching module and an energy output interface;
The power supply module comprises an AC-DC conversion module and a DC-DC conversion module, and is used for carrying out power supply conversion and providing needed power supply for other modules;
The control module is used for providing a required driving signal for the energy driving module so as to generate the driving signal required by the energy generating module, providing corresponding interaction information for different energy generating modules, collecting feedback signals and sending the feedback signals to the self-adaptive regulation and control module;
and the output switching module and the energy output interface switch energy according to the ablation time sequence function and output the energy.
Optionally, the system further comprises an image navigation function module;
the image navigation function module is used for monitoring the surrounding area of the integrated electrode needle in real time through a real-time image when the needle advancing and retracting operation is executed, adjusting the needle advancing and retracting path according to the real-time image and navigating according to the adjusted needle advancing and retracting path.
Optionally, the system further comprises an analog simulation module;
the simulation module is used for performing ablation simulation according to the ablation parameters before the composite physical field energy generation module generates energy according to the ablation parameters, and determining whether the composite physical field energy generation module accords with expectations according to a simulation ablation area generated by the ablation simulation;
when the ablation parameters are met, notifying the composite physical field energy generation module to send energy according to the ablation parameters;
and when the ablation parameters are not matched, adjusting the ablation parameters, and performing the ablation simulation again according to the adjusted ablation parameters until the simulated ablation area is matched with the expectation, and transmitting energy according to the adjusted ablation parameters through the composite physical field energy generation module.
A second aspect of the present application provides an integrated single needle based composite physical field adaptive ablation device, the device comprising:
The ablation parameter determining unit is used for determining ablation parameters for performing ablation treatment through preoperative information and intra-operative images of the target patient;
the self-adaptive regulation and control unit is used for monitoring the target ablation area through real-time images and adjusting the ablation treatment time sequence function according to the monitoring result;
The composite physical field energy generation unit is used for determining a target ablation method through the ablation treatment time sequence function, determining a target energy type according to the target ablation method, generating energy according to ablation parameters corresponding to the target energy type, and emitting the energy to the target ablation area through an integrated electrode to perform ablation treatment, wherein the integrated electrode needle comprises a plurality of electrode groups of different types.
Optionally, the different types of electrode groups in the composite physical field energy generating unit comprise a radio frequency electrode group and a pulse electric field electrode group;
The method for determining target ablation by using an ablation treatment time sequence function comprises the following steps:
determining that the ablation treatment time sequence function comprises a radio frequency ablation time sequence function and a pulse electric field ablation time sequence function according to the type of the electrode group, and determining that the radio frequency ablation time sequence function isThe pulse electric field ablation time sequence function is that;
Determining the saidAndWhen the value of (1)When the RF electrode group emits energy, when the RF electrode groupEnergy is emitted through the pulsed electric field electrode set.
Optionally, the composite physical field energy generating unit comprises a power supply module, a control module, a plurality of different energy driving modules, a plurality of different energy generating modules, an output switching module and an energy output interface;
The power supply module comprises an AC-DC conversion module and a DC-DC conversion module, and is used for carrying out power supply conversion and providing needed power supply for other modules;
The control module is used for providing a required driving signal for the energy driving module so as to generate the driving signal required by the energy generating module, providing corresponding interaction information for different energy generating modules, collecting feedback signals and sending the feedback signals to the self-adaptive regulation and control module;
and the output switching module and the energy output interface switch energy according to the ablation time sequence function and output the energy.
Optionally, the apparatus further includes:
And the image navigation function unit is used for monitoring the surrounding area of the integrated electrode needle in real time through a real-time image when the needle advancing and retracting operation is executed, adjusting the needle advancing and retracting path according to the real-time image and navigating according to the adjusted needle advancing and retracting path.
Optionally, the apparatus further includes:
The simulation unit is used for performing ablation simulation according to the ablation parameters before generating energy according to the ablation parameters corresponding to the target energy types, and determining whether the energy meets the expectations or not according to a simulation ablation area generated by the ablation simulation;
when the ablation parameters are met, notifying the composite physical field energy generation module to send energy according to the ablation parameters;
and when the ablation parameters are not matched, adjusting the ablation parameters, and performing the ablation simulation again according to the adjusted ablation parameters until the simulated ablation area is matched with the expectation, and transmitting energy according to the adjusted ablation parameters through the composite physical field energy generation module.
In the embodiment provided by the application, the system integrates a plurality of energy generating devices and controls the energy generating devices through an ablation treatment time sequence function, and the integrated electrode needle comprises electrode groups corresponding to the energy generating devices. In the ablation operation process, an ablation area is treated through a preset ablation method, and is monitored, when the ablation method is determined to be required to be adjusted, the self-adaptive adjustment is performed through an ablation treatment time sequence function, so that the adjusted energy generating equipment generates energy and emits the energy through an electrode group corresponding to the energy on the integrated electrode needle. The method realizes that in the ablation operation process, multiple physical field energies are emitted through the self-adaption of the integrated single electrode needle, and solves the problems of parallel needle operation and hemostasis/implantation risks in the ablation treatment operation.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. The term "if" as used herein may be interpreted as "at..once" or "when..once" or "in response to a determination", depending on the context.
The application provides a compound physical field self-adaptive ablation system based on an integrated single needle, which aims to solve the problems of parallel needle operation difficulty and hemostasis/implantation risk in the ablation treatment operation process.
The technical scheme of the application is described in detail below by specific examples. The specific embodiments may be combined with each other and some embodiments may not be repeated for the same or similar concepts or processes.
As shown in FIG. 1, a block diagram of a composite physical field self-adaptive ablation system based on an integrated single needle is provided, and the system comprises an integrated single needle module, a composite physical field energy generation module, a self-adaptive regulation and control module and an ablation parameter determination module.
The functions of the respective modules are described below:
1. An integrated single needle module. The module comprises an integrated electrode needle, the integrated electrode needle comprises a plurality of electrode groups of different types, and the electrode groups are used for transmitting different energy generated by the composite physical field energy generation module to a target ablation area, so that accurate ablation of the composite physical field is realized.
Illustratively, as shown in FIG. 2, the electrode pin comprises 4 electrodes connected to the adaptive control module by connecting wires. The electrodes 1 and 3 can form a pair of radio frequency electrode groups, the electrodes 2 and 4 can form a pair of pulse electric field electrode groups, and a temperature sensor or a pressure sensor and other thermal ablation energy forms such as microwaves can be additionally arranged on the electrodes. The electrode needle can be used for transmitting radio frequency ablation energy or pulsed electric field ablation energy to a target area. Thereby realizing the rechecking ablation of the thermal field-pulse electric field through a single electrode needle.
2. And the composite physical field energy generation module. The module is used for determining a target ablation method through an ablation treatment time sequence function, determining a target energy type according to the target ablation method, generating energy according to ablation parameters corresponding to the target energy type, and transmitting the energy to the target ablation area through an integrated electrode to perform ablation treatment.
In the module, an ablation treatment time sequence function can be set for each energy generating device integrated in the scheme, and different function values can be set for each energy generating device. For example, when the ablation treatment time sequence function value is 1, energy is generated by the energy generating device a, and then the electrode group corresponding to the energy is emitted to the target area through the integrated electrode needle. When the ablation treatment time sequence function value is 2, energy is generated by the energy generating device B, and when the ablation treatment time sequence function value is 3, energy is generated by the energy generating device C.
In another embodiment, different ablation therapy timing functions may be set for different energy generating devices, with each ablation therapy timing function controlling the corresponding energy generating device to be turned on or off. For example, when the system integrates a radio frequency energy generating device and a pulsed electric field energy generating device, the radio frequency electrode set and the pulsed electric field electrode set are configured on the integrated electrode needle. Determining that the ablation treatment time sequence function comprises a radio frequency ablation time sequence function and a pulse electric field ablation time sequence function according to the type of the electrode group, and determining that the radio frequency ablation time sequence function isFor controlling the radio frequency energy generating device. The pulse electric field ablation time sequence function isFor controlling a pulsed electric field energy generating device. Real-time detection during ablation therapyAndWhen the value of (1)When the RF energy generating device is controlled to be started, the RF electrode group on the electrode needle is used for transmitting energy, and whenAnd controlling the pulse electric field energy generating device to be started, and transmitting energy through the pulse electric field electrode group on the electrode needle. This allows for control during ablation therapy surgeryAndAnd (3) switching the ablation method.
In another embodiment, the composite physical field energy generating module includes a power module, a control module, a plurality of different energy driving modules, a plurality of different energy generating modules, an output switching module and an energy output interface;
The power supply module comprises an AC-DC conversion module and a DC-DC conversion module, and is used for carrying out power supply conversion and providing needed power supply for other modules;
The control module is used for providing a required driving signal for the energy driving module so as to generate the driving signal required by the energy generating module, providing corresponding interaction information for different energy generating modules, collecting feedback signals and sending the feedback signals to the self-adaptive regulation and control module;
and the output switching module and the energy output interface switch energy according to the ablation time sequence function and output the energy.
In this embodiment, taking the composite ablation of the pulsed electric field and the rf energy as an example, a schematic structure of the composite physical field energy generating module is shown in fig. 3. The power supply module provides power supplies required by the control module, the radio frequency driving module, the pulse driving module, the radio frequency energy module and the pulse energy module. The control module provides required driving signals for the radio frequency driving module and the pulse driving module so as to generate driving signals required by the two energy modules, and simultaneously provides corresponding interaction information for the radio frequency energy module and the pulse energy module, collects feedback signals, sends the feedback signals to the self-adaptive regulation and control module and obtains instruction information from the self-adaptive regulation and control module so as to achieve an ideal capacity output state. The output switching module and the energy output port adjust the output mode in real time according to the ablation time sequence function, so that the requirement of target spot ablation energy is met.
3. And the self-adaptive regulation and control module. The module is used for monitoring the target ablation region through real-time images and adjusting the ablation treatment time sequence function according to the monitoring result.
In this embodiment, the ablation therapy timing function may be adjusted for different scenarios, so as to implement switching of the ablation method.
Scene 1, performing thermal ablation on the needle track after the pulsed electric field ablation is finished so as to avoid cancer cell diffusion and implantation.
Step one, the self-adaptive regulation and control module keeps the radio frequency energy generating equipment closed, namely. Maintaining the radio frequency electrode group in an off state. Starting pulsed electric field energy generating devices, i.e.And is connected with the pulse electric field electrode group.
And step two, performing pulsed electric field ablation on the target ablation area until the pulsed electric field ablation is finished.
Step three, the self-adaptive regulation and control module turns off the pulse electric field energy generating equipment, namelyThe pulsed electric field electrode set is disconnected. Turning on the RF energy generating device, i.eAnd is connected with the radio frequency electrode group.
And step four, performing thermal ablation on the needle track until the ablation is finished, wherein a timing sequence regulation schematic diagram is shown in fig. 4.
In the scene, the thermal ablation of the needle tract is also carried out after the target area pulse electric field ablation treatment is realized through the pulse electric-thermal composite field, so that the cancer cell diffusion planting is avoided.
Scene 2, emergency hemostasis is carried out by sudden severe bleeding in the process of pulsed electric field ablation.
Step one, the self-adaptive regulation and control module keeps the radio frequency energy generating equipment closed, namely. Maintaining the radio frequency electrode group in an off state. Starting pulsed electric field energy generating devices, i.e.And is connected with the pulse electric field electrode group.
Step two, performing pulsed electric field ablation on the target ablation tissue, performing real-time image monitoring in the ablation process, if sudden bleeding is found, entering step three, and if no bleeding occurs, continuously performing pulsed electric field ablation on the target ablation tissue until the ablation is finished.
Step three, the self-adaptive regulation and control module turns off the pulse electric field energy generating equipment, namelyThe pulsed electric field electrode set is disconnected. Turning on the RF energy generating device, i.eAnd is connected with the radio frequency electrode group.
Step four, performing thermocoagulation hemostasis on the bleeding part, and performing real-time image monitoring in the thermocoagulation hemostasis process, if the hemostasis is successful, entering a step five, otherwise, continuously performing thermocoagulation hemostasis on the bleeding part until the hemostasis is successful.
Step five, the self-adaptive regulation and control module keeps the radio frequency energy generating equipment closed, namely. Maintaining the radio frequency electrode group in an off state. Starting pulsed electric field energy generating devices, i.e.And is connected with the pulse electric field electrode group. And step two, a timing sequence regulation schematic diagram is shown in fig. 5.
In the scene, when the target area is subjected to pulse electric field ablation treatment and bleeding occurs, the ablation method can be rapidly adjusted to stop bleeding through the ablation treatment time sequence function, so that the safety of an ablation treatment operation is improved.
4. An ablation parameter determination module. The module is used for determining the ablation parameters of the target ablation method through preoperative information and intra-operative images of the target patient, and if the target ablation method is pulse electric field ablation, the ablation parameters are voltage, pulse width, pulse number and the like. When the target ablation method is radio frequency ablation, the ablation parameters are current power, working frequency and the like. After determining the ablation parameters, the ablation parameters are sent to the composite physical field energy generation module, so that the composite physical field energy generation module controls each ablation energy generation device to generate energy according to the ablation parameters.
Thus, the system module description shown in fig. 1 is completed.
In the above embodiment, the system integrates a plurality of ablation energy generating devices and controls them by means of an ablation treatment time sequence function, and the integrated electrode needle comprises electrode sets for each energy generating device. In the ablation operation process, an ablation area is treated through a preset ablation method, and is monitored, when the ablation method is determined to be required to be adjusted, the self-adaptive adjustment is performed through an ablation treatment time sequence function, so that the adjusted energy generating equipment generates energy and emits the energy through an electrode group corresponding to the energy on the integrated electrode needle. The method realizes that in the ablation operation process, multiple physical field energies are emitted in a self-adaptive way through the integrated single electrode needle, and solves the problems of parallel needle operation and hemostasis/implantation risks.
In another embodiment, the system further includes an image navigation function module;
The module is used for monitoring the surrounding area of the integrated electrode needle in real time through the real-time image when the needle advancing and retracting operation is executed, adjusting the needle advancing and retracting path according to the real-time image and navigating according to the adjusted needle advancing and retracting path.
In another embodiment, the system further comprises an analog simulation module;
the module is used for carrying out ablation simulation according to the ablation parameters before the composite physical field energy generation module generates energy according to the ablation parameters, and determining whether the composite physical field energy generation module accords with expectations according to a simulation ablation area generated by the ablation simulation;
when the ablation parameters are met, notifying the composite physical field energy generation module to send energy according to the ablation parameters;
and when the ablation parameters are not matched, adjusting the ablation parameters, and performing the ablation simulation again according to the adjusted ablation parameters until the simulated ablation area is matched with the expectation, and transmitting energy according to the adjusted ablation parameters through the composite physical field energy generation module.
In the module, taking a pulse electric field as an example, the process of simulation is as follows:
By passing throughA kind of electronic deviceDetermining the electric field intensity E of the region to be treated, wherein sigma is the conductivity, and can be expressed by the formulaIt is shown that the conductivity is related to the temperature and the applied ablation electric field, and that specific values can be measured in real time by the sensor. U is a potential, the positive electrode boundary potential of U is a preset value U0, U0 can be set to different values according to different ablation devices, and the negative electrode boundary potential is ground 0V.
The main to-be-solved parameters of the electric field strength E and the electric potential U in the equation can be solved by COMSOL finite element software or other similar software.
After the electric field intensity E is determined, a region with the electric field intensity not smaller than a preset ablation threshold field intensity can be determined as an estimated pulse electric field ablation region, so thatIs determined as the simulated pulsed electric field ablation region.For a preset ablation threshold field strength,As a function of the time parameter,Is a three-dimensional spatial parameter of the whole region to be treated.
After determining the simulated pulsed electric field ablation region, it is compared with the preset ablation range in the preoperative treatment scheme. If the repetition rate of the two is smaller than the preset value, the effect of ablation treatment through the treatment parameters is not expected, and the comparison is estimated again after the adjustment is needed. And executing the step of performing pulsed electric field ablation treatment on the target patient according to the treatment parameters until the repetition rate exceeds a preset value.
In this module, the treatment parameters are simulated prior to performing the ablation treatment so that optimal treatment parameters can be determined prior to performing the ablation treatment. Thereby improving the accuracy and safety of the ablation procedure.
As shown in fig. 6, the present application further provides a composite physical field adaptive ablation device based on an integrated single needle, the device comprising:
An ablation parameter determining unit 601, configured to determine an ablation parameter for performing an ablation treatment according to preoperative information and intra-operative images of a target patient;
The adaptive regulation and control unit 602 is configured to monitor a target ablation area through a real-time image, and adjust the ablation treatment time sequence function according to a monitoring result;
The composite physical field energy generating unit 603 is configured to determine a target ablation method according to the ablation treatment time sequence function, determine a target energy type according to the target ablation method, generate energy according to an ablation parameter corresponding to the target energy type, and emit the energy to the target ablation area through an integrated electrode to perform ablation treatment, where the integrated electrode needle includes a plurality of electrode groups of different types.
In another embodiment, the different types of electrode sets in the composite physical field energy generating unit include a radio frequency electrode set and a pulsed electric field electrode set;
The method for determining target ablation by using an ablation treatment time sequence function comprises the following steps:
determining that the ablation treatment time sequence function comprises a radio frequency ablation time sequence function and a pulse electric field ablation time sequence function according to the type of the electrode group, and determining that the radio frequency ablation time sequence function isThe pulse electric field ablation time sequence function is that;
Determining the saidAndWhen the value of (1)When the RF electrode group emits energy, when the RF electrode groupEnergy is emitted through the pulsed electric field electrode set.
In another embodiment, the composite physical field energy generating unit includes a power module, a control module, a plurality of different energy driving modules, a plurality of different energy generating modules, an output switching module and an energy output interface;
The power supply module comprises an AC-DC conversion module and a DC-DC conversion module, and is used for carrying out power supply conversion and providing needed power supply for other modules;
The control module is used for providing a required driving signal for the energy driving module so as to generate the driving signal required by the energy generating module, providing corresponding interaction information for different energy generating modules, collecting feedback signals and sending the feedback signals to the self-adaptive regulation and control module;
and the output switching module and the energy output interface switch energy according to the ablation time sequence function and output the energy.
In another embodiment, the apparatus further comprises:
the image navigation function unit 604 is configured to monitor, in real time, a surrounding area of the integrated electrode needle when performing the needle advancing and retracting operation by using a real-time image, adjust a needle advancing and retracting path according to the real-time image, and navigate according to the adjusted needle advancing and retracting path.
In another embodiment, the apparatus further comprises:
The simulation unit 605 is configured to perform an ablation simulation according to the ablation parameters before generating energy according to the ablation parameters corresponding to the target energy type, and determine whether the energy meets an expectation according to a simulated ablation area generated by the ablation simulation;
when the ablation parameters are met, notifying the composite physical field energy generation module to send energy according to the ablation parameters;
and when the ablation parameters are not matched, adjusting the ablation parameters, and performing the ablation simulation again according to the adjusted ablation parameters until the simulated ablation area is matched with the expectation, and transmitting energy according to the adjusted ablation parameters through the composite physical field energy generation module.
The embodiment of the invention provides a composite physical field self-adaptive ablation system based on an integrated single needle, and provides a composite physical field self-adaptive ablation device based on the integrated single needle based on the system.
The embodiment also discloses a computer device, as shown in fig. 7, where the computer device includes a processor and a memory, where at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the function of any one of the integrated single-needle-based composite physical field adaptive ablation systems.
In addition, in the embodiment of the integrated single needle-based composite physical field adaptive ablation device, the logic division of each program module is merely illustrative, and in practical application, the function allocation may be performed by different program modules according to needs, for example, for the configuration requirement of corresponding hardware or the convenience of implementation of software, that is, the internal structure of the integrated single needle-based composite physical field adaptive ablation device is divided into different program modules, so as to complete all or part of the functions described above.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.