CN103598915B - In a kind of tumor radiofrequency ablation technology, accurately location three ball covers the method for tumor - Google Patents
In a kind of tumor radiofrequency ablation technology, accurately location three ball covers the method for tumor Download PDFInfo
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- 206010028980 Neoplasm Diseases 0.000 title claims abstract description 100
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- 238000007674 radiofrequency ablation Methods 0.000 title claims abstract description 17
- 238000005516 engineering process Methods 0.000 title claims abstract description 15
- 238000012913 prioritisation Methods 0.000 claims description 51
- 238000002679 ablation Methods 0.000 claims description 31
- 238000005457 optimization Methods 0.000 claims description 21
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Abstract
The present invention relates to tumor radiofrequency ablation technology, aim to provide the method for accurately location three ball covering tumor in a kind of tumor radiofrequency ablation technology.In this kind of tumor radiofrequency ablation technology, accurately the method for location three ball covering tumor comprises the following steps: 1, carry out pretreatment to tumor image; 2, three initial points in tumor image are determined; 3, three balls are gone out by K-means algorithm cluster; 4, radius and the sphere center position of three balls is adjusted.The present invention can realize the requirement reducing three radiuses of a ball covering tumor, doctor can be helped to implement operation more accurately and efficiently, and reduce the injury of operation normal tissue as much as possible, thus make radio-frequency ablation procedure more safe and effective.
Description
Technical field
The invention relates to the technology of the figure of auxiliary accurately location radio-frequency (RF) ablation, particularly in a kind of tumor radiofrequency ablation technology, accurately location three ball covers the method for tumor.
Background technology
Tumor radio-frequency ablation procedure is the minimally-invasive treatment new technique of the entity tumor of rising in recent years.There is the advantages such as curative effect is high, wound is little, misery is little, recovery is fast, risk is little, indication is wide compared with traditional treatment, be called green treatment technology by domestic and international expert.The tolerance of tumor cell to heat is poorer than normal cell, and local warming just can make it stop division to 39-40 DEG C, when reaching 41-42 DEG C can carcinogenic cells dead or cause its DNA damage, more than 49 DEG C there is irreversible cell injury.
Cluster radio electrode emission altofrequency rf wave, excite tissue cell carries out plasma concussion, and the heat produced can make local temperature reach more than 90 DEG C, thus fast and effeciently kills tumor cell.The principle of this technology is under the guiding of CT, Color B-Type Ultrasonic, multipole male/female needle ablating electrode is accurately thrust tumor locus, radio-frequency pulse energy is transmitted in tumor tissues by multipole pin by radiofrequency melting instrument under electronic computer controls, tumor tissues is made to produce the 70-95 DEG C of high temperature in local, thus reaching the object making tumor tissues and the contiguous tissue coagulation necrosis that may be diffused thereof, slough is in position by machine or absorption.In the operation process of radiofrequency ablation therapy tumor, doctor requires at the tissue burning destruction adjacent healthy the least possible under the prerequisite of tumor cell completely to death.
At present, the most significant factor of radiofrequency ablation therapy malignant tumor impact effect is that tumour ablation is incomplete, itself and tumor size and radio-frequency (RF) ablation puncture path closely related, after multinomial research confirms radio frequency, original position relapse rate is higher is owing to cannot accurately to locate and caused by precision ablation.Therefore, produce the graphic system can assisting accurately location radio-frequency (RF) ablation, set up the path optimizing of radio-frequency (RF) ablation, improve the efficiency of radio-frequency (RF) ablation, there is provided technical support for doctor formulates corresponding precision ablation operation plan, have broad application prospects and positive effect.
Summary of the invention
Main purpose of the present invention is to overcome deficiency of the prior art, provides one can in radiofrequency ablation therapy neoplastic process, and pinpoint three balls of Assisted RF Plasma CVD ablation needle cover the method for tumors.For solving the problems of the technologies described above, solution of the present invention is:
The method of accurately location three ball covering tumor in a kind of tumor radiofrequency ablation technology is provided, comprises the following steps:
(1) pretreatment is carried out to tumor image;
(2) three initial points in tumor image are determined;
(3) three balls are gone out by K-means algorithm cluster;
(4) radius and the sphere center position of three balls is adjusted;
The detailed process of described step (1) is:
Described tumor image refers to three-dimensional voxel image, and tumor image is amplified 3 ~ 5 pixels;
The detailed process of described step (2) is:
Pretreated tumor image in step (1) is handled as follows:
A, calculate the distance between any two points in tumor image, to select apart from maximum two o'clock as two initial points, be designated as x
1and x
2;
Any point remaining in B, calculating tumor image is to x
1and x
2distance, obtain two distances, select shorter distance in two distances and be designated as d
x, choose d
xas the 3rd initial point, be designated as x at minimum o'clock
3;
The detailed process of described step (3) is:
A, three the initial point x will chosen in step (2)
1, x
2and x
3as initial cluster center;
Each point in B, calculating tumor image to the distance of these three initial points, and carries out partition clustering according to minimum range to point;
C, calculate the circumscribed circle center of circle of three clusters as new center, and with these three centers newly determined for cluster centre circulates the process of above-mentioned steps (3), until three cluster centres no longer change, obtain three balls;
Described step (4) according to different demands, by two kinds of mode process, detailed process respectively:
In tumor radio-frequency (RF) ablation, to melt radius continuous for the burning of ablation needle, employing mode one: three balls obtained in step (3), according to the radius size of ball, if there is the ball of same radius to occur, assuming that one of them is large ball, middle ball or bead arbitrarily, the radius of the ball first utilizing iterative algorithm reduced radius maximum, then presses radius from big to small, reduce the radius of residue two balls successively, be namely adjusted three balls of rear covering tumor;
In tumor radio-frequency (RF) ablation, to melt radius discrete for the burning of ablation needle, adopts mode two:
A, melt the radius of three balls obtained in radius and step (3) according to the burning of ablation needle, the radius of ball will be not less than respectively, and melt radius closest to the burning of the ablation needle of the radius of a ball, respectively as the radius upper bound of three balls, enumerate all possible prioritization scheme, namely all burnings using ablation needle melt the possible assembled scheme of radius as the radius of three balls;
B, the prioritization scheme obtained in the steps A of step (4) to be verified respectively: by three napiform roots obtaining in step (3) according to position relationship, be divided into left ball, middle ball and right ball (also can be divided into upper ball, middle ball, lower ball by upper and lower relation) successively, and the step-length of the iteration step length and radius change that set centre of sphere movement is all K, and K refers to 5 pixels, different according to the arrangement position of the ball of required optimization, be handled as follows respectively:
The ball of a, required optimization is right ball: first allow the left ball centre of sphere move K to the middle ball centre of sphere, and the left radius of a ball increases K; Recycling iterative algorithm, obtain middle ball remove radius increase after the circumsphere of tumor region that comprises of left ball; Then allow the middle ball centre of sphere to the right the ball centre of sphere move K, the middle radius of a ball increases K; Recycling iterative algorithm, obtain right ball remove radius increase after the circumsphere of tumor region that comprises of middle ball; Above-mentioned four steps of last iterative cycles, and contrast all prioritization schemes enumerated to verify: if the radius of left ball or middle ball has exceeded the corresponding radius upper bound, and right ball does not reach the right radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is infeasible; If the radius of left ball and middle ball does not exceed the corresponding radius upper bound, and right ball reaches the right radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is feasible;
The ball of b, required optimization is middle ball: first allow the left ball centre of sphere move K to the middle ball centre of sphere, and the left radius of a ball increases K; Recycling iterative algorithm, obtain middle ball remove radius increase after the circumsphere of tumor region that comprises of left ball; Then allow the right ball centre of sphere move K to the middle ball centre of sphere, the right radius of a ball increases K; Recycling iterative algorithm, obtain middle ball remove radius increase after the circumsphere of tumor region that comprises of right ball; Above-mentioned four steps of last iterative cycles, and contrast all prioritization schemes enumerated to verify: if the radius of left ball or right ball has exceeded the corresponding radius upper bound, and middle ball does not reach the middle radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is infeasible; If the radius of left ball or right ball does not exceed the corresponding radius upper bound, and middle ball reaches the middle radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is feasible;
C, required optimization have two balls: first a or b that take steps be optimized one of them ball, if stop iteration when the radius of a ball of required optimization to reach in enumerated arrangements the scheme that two balls optimize, b or a that then take steps equally is optimized another ball; If the radius of a ball without the need to optimizing exceedes the radius upper bound corresponding to it, and the radius of two of required optimization balls does not reach the radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is infeasible; If two of required optimization balls reach the radius of two balls in prioritization scheme, and the radius of a ball without the need to optimizing does not exceed the radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is feasible;
Described iterative algorithm refers to: first set pixel L, M, S and be respectively large, medium and small three iteration step lengths, wherein L is 5 pixels, and M is 3 pixels, and S is 1 pixel, and then iteration step length adopts large iteration step length L, performs following steps:
Steps d: the centre of sphere conceded points all around 6 direction motion iteration step-lengths up and down, then the longest distance of tumor region to the post exercise centre of sphere is calculated, therefore each direction correspondence obtains a longest distance, select the direction moved as the centre of sphere in the direction in these 6 distances corresponding to the shortest that, the longest distance corresponding to this direction is exactly the new radius of the ball obtained after iteration;
Step e: repeated execution of steps d, until the radius of ball can not reduce again;
Reduce iteration step length successively, iteration step length M and little iteration step length S in namely adopting respectively, then perform steps d and step e, namely obtain the circumsphere corresponding to tumor region.
Principle of the present invention: in the process finding three balls covering tumor image, we are conceived to searching three balls, can ensure to cover tumor completely, thus reach the object burning tumor cell completely to death, the radius of these three balls can be made again as far as possible little, the volume of three obtained like this balls is as far as possible little, thus can destroy the normal structure of near tumor cells over the course for the treatment of as little as possible, ensures the safety of clinical treatment.
Compared with prior art, the invention has the beneficial effects as follows:
The requirement reducing three radiuses of a ball covering tumor can be realized, doctor can be helped to implement operation more accurately and efficiently, and reduce the injury of operation normal tissue as much as possible, thus make radio-frequency ablation procedure more safe and effective.
Accompanying drawing explanation
Fig. 1 is the procedural block diagram that the present invention accurately locates three balls covering tumor.
Fig. 2 is the schematic diagram that easy three balls cover liver neoplasm.
Fig. 3 is typical three ball distribution situation a schematic diagrams in embodiment.
Fig. 4 is typical three ball distribution situation b schematic diagrams in embodiment.
Fig. 5 is the actual effect figure that simple and easy simulation three ball covers liver neoplasm.
Fig. 6 is the actual effect figure that full simulation three ball covers liver neoplasm.
Fig. 7 is the actual effect figure that another angle full simulation three ball covers liver neoplasm.
Fig. 8 is the actual effect figure that full simulation translucentization three ball covers liver neoplasm.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail:
As shown in Figure 1, in a kind of tumor radiofrequency ablation technology, accurately the method for location three ball covering tumor comprises the following steps:
(1) pretreatment is carried out to tumor image, tumor image is amplified;
(2) three initial points in tumor image are determined;
(3) three balls are gone out by K-means algorithm cluster;
(4) radius and the sphere center position of three balls is adjusted.
The detailed process of described step (1) is:
Described tumor image is the three-dimensional voxel image based on CT, MRI image reconstruction, according to the demand of doctor's setting, tumor image is carried out amplification 3 ~ 5 pixels.The object of amplifying tumor is to ensure to there is certain safety clearance between ball and true tumor mass, thus has certain error allowed band when ensureing surgical, reaches fully melting of tumor, prevents the edge of tumor from recurring.
The detailed process of described step (2) is:
Pretreated tumor image in step (1) is handled as follows:
A, calculate the distance between any two points in tumor image, to select apart from maximum two o'clock as two initial points, be designated as x
1and x
2;
Any point remaining in B, calculating tumor image is to x
1and x
2distance, obtain two distances, select shorter distance in two distances and be designated as d
x, choose d
xas the 3rd initial point, be designated as x at minimum o'clock
3.
The object done like this be to select in tumor image dispersion as far as possible three points as initial point.
The detailed process of described step (3) is:
A, three the initial point x will chosen in step (2)
1, x
2and x
3as initial cluster center;
Each point in B, calculating tumor image to the distance of these three initial points, and carries out partition clustering according to minimum range to point;
C, calculate the circumscribed circle center of circle of three clusters as new center, and with these three centers newly determined for cluster centre circulates the process of above-mentioned steps (3), until three cluster centres no longer change, obtain three balls.
Because in step (3), three balls obtained by K-means algorithm cluster are barycenter of three corresponding tumor mass, it is not the centre of sphere of their circumsphere, therefore the radius of these three balls may be larger than the radius of the ball of ideal covering, therefore we need step (4) iteration to obtain the centre of sphere of circumsphere, thus reduced radius.Described step (4) according to different demands, by two kinds of mode process, detailed process respectively:
In tumor radio-frequency (RF) ablation, to melt radius continuous for the burning of ablation needle, employing mode one: three balls obtained in step (3), according to the radius size of ball, if there is the ball of same radius to occur, assuming that one of them is large ball, middle ball or bead arbitrarily, the radius of the ball first utilizing iterative algorithm reduced radius maximum, then presses radius from big to small, reduce the radius of residue two balls successively, be namely adjusted three balls of rear covering tumor.
In tumor radio-frequency (RF) ablation, to melt radius discrete for the burning of ablation needle, adopts mode two:
A, melt the radius of three balls obtained in radius and step (3) according to the burning of ablation needle, the radius of ball will be not less than respectively, and melt radius closest to the burning of the ablation needle of the radius of a ball, respectively as the radius upper bound of three balls, enumerate all possible prioritization scheme, namely all burnings using ablation needle melt the possible assembled scheme of radius as the radius of three balls;
B, the prioritization scheme obtained in the steps A of step (4) to be verified respectively: by three napiform roots obtaining in step (3) according to position relationship, be divided into left ball, middle ball and right ball successively, here also upper ball, middle ball, lower ball can be divided into by upper and lower relation, then the iteration step length of setting centre of sphere movement and the step-length of radius change are all K, and K refers to 5 pixels, different according to the arrangement position of the ball of required optimization, be handled as follows respectively:
A, as shown in Figure 3, the ball of required optimization is right ball: first allow the left ball centre of sphere move K to the middle ball centre of sphere, and the left radius of a ball increases K; Recycling iterative algorithm, obtain middle ball remove radius increase after the circumsphere of tumor region that comprises of left ball; Then allow the middle ball centre of sphere to the right the ball centre of sphere move K, the middle radius of a ball increases K; Recycling iterative algorithm, obtain right ball remove radius increase after the circumsphere of tumor region that comprises of middle ball; Above-mentioned four steps of last iterative cycles, and contrast all prioritization schemes enumerated to verify: if the radius of left ball or middle ball has exceeded the corresponding radius upper bound, and right ball does not reach the right radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is infeasible; If the radius of left ball and middle ball does not exceed the corresponding radius upper bound, and right ball reaches the right radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is feasible;
B, as shown in Figure 4, the ball of required optimization is middle ball: first allow the left ball centre of sphere move K to the middle ball centre of sphere, and the left radius of a ball increases K; Recycling iterative algorithm, obtain middle ball remove radius increase after the circumsphere of tumor region that comprises of left ball; Then allow the right ball centre of sphere move K to the middle ball centre of sphere, the right radius of a ball increases K; Recycling iterative algorithm, obtain middle ball remove radius increase after the circumsphere of tumor region that comprises of right ball; Above-mentioned four steps of last iterative cycles, and contrast all prioritization schemes enumerated to verify: if the radius of left ball or right ball has exceeded the corresponding radius upper bound, and middle ball does not reach the middle radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is infeasible; If the radius of left ball or right ball does not exceed the corresponding radius upper bound, and middle ball reaches the middle radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is feasible;
C, required optimization have two balls: first a or b that take steps be optimized one of them ball, if stop iteration when the radius of a ball of required optimization to reach in enumerated arrangements the scheme that two balls optimize, b or a that then take steps equally is optimized another ball; If the radius of a ball without the need to optimizing exceedes the radius upper bound corresponding to it, and the radius of two of required optimization balls does not reach the radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is infeasible; If two of required optimization balls reach the radius of two balls in prioritization scheme, and the radius of a ball without the need to optimizing does not exceed the radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is feasible.
Described iterative algorithm refers to: first set pixel L, M, S and be respectively large, medium and small three iteration step lengths, wherein L is 5 pixels, and M is 3 pixels, and S is 1 pixel.Then iteration step length adopts large iteration step length L, performs following steps;
Steps d: the centre of sphere conceded points all around 6 direction motion iteration step-lengths up and down, then the longest distance of tumor region to the post exercise centre of sphere is calculated, therefore each direction correspondence obtains a longest distance, select the direction moved as the centre of sphere in the direction in these 6 distances corresponding to the shortest that, the longest distance corresponding to this direction is exactly the new radius of the ball obtained after iteration;
Step e: repeated execution of steps d, until the radius of ball can not reduce again;
Reduce iteration step length successively, iteration step length M and little iteration step length S in namely adopting respectively, then perform steps d and step e, namely obtain the circumsphere corresponding to tumor region.
Enumerate mode two processing procedure that specific embodiment comes in description of step (4) below, but do not limit the present invention in any way.
Supposing that the burning of ablation needle melts radius is 3cm, 4cm, 5cm, this situation we just can think deeply by discrete angle.The radius supposing three balls that step (3) obtains is 3.2cm, 3.6cm and 4.5cm respectively, then the radius upper bound of three balls that we get respectively is 4cm, 4cm and 5cm.Because it is fixing for melting radius, therefore we can take the possibility enumerating all reduced radius.Such as above-mentioned situation, we enumerate its possible embodiment, shown in table 1 specific as follows.
Table 1
| Ball 1 radius (cm) | Ball 2 radius (cm) | Ball 3 radius (cm) |
| 4 | 4 | 4 |
| 3 | 4 | 5 |
| 4 | 3 | 5 |
| 3 | 4 | 4 |
| 4 | 3 | 4 |
| 3 | 3 | 5 |
Then above-mentioned all probabilities are verified one by one and find desirable operation plan.The iteration step length of setting centre of sphere movement and the step-length K of radius change are 2mm.The probability of 3cm, 4cm, 5cm in bright table 1 specifically, the discussion of other probabilities can similarly provide.In fact according to the situation seldom occurring three balls UNICOM between two in the shape practical situation of tumor, namely seldom occur that three balls covered have public common factor.Therefore the position distribution situation of three balls can as shown in Figure 3, Figure 4, be ignored symmetrical, and three ball distributions roughly can be respectively a, b two kinds of situations.Facilitate us to be called for short three balls by the size of ball to be respectively large ball, middle ball, bead to describe.
Situation a: as shown in Figure 3, the first large ball centre of sphere moves 2mm to the middle ball centre of sphere, and the large radius of a ball increases 2mm; Call again algorithm 1 obtain middle ball remove amplification after the circumsphere of tumor region that comprises of large ball; Then the middle ball centre of sphere moves 2mm to the bead centre of sphere, and the middle radius of a ball increases 2mm; Call again algorithm 1 obtain bead remove amplification after the circumsphere of tumor region that comprises of middle ball; Whether the above-mentioned four step card situation a that finally iterate can be optimized to 3cm, 4cm, 5cm.
Situation b: as shown in Figure 5, the first large ball centre of sphere moves 2mm to the bead centre of sphere, and the large radius of a ball increases 2mm; Call again algorithm 1 obtain bead remove amplification after the circumsphere of tumor region that comprises of large ball; Then the middle ball centre of sphere moves 2mm to the bead centre of sphere, and the middle radius of a ball increases 2mm; Call again algorithm 1 obtain bead remove amplification after the circumsphere of tumor region that comprises of middle ball; Whether the above-mentioned four step card situation c that finally iterate can be optimized to 3cm, 4cm, 5cm.
In like manner we can the probability of other combined radius in proof list, thus the operation plan of the optimum finding doctor to need.
Fig. 5 to Fig. 8 is the experiment effect figure of liver and the tumor data obtained by truthful data 3D modeling.
Experimental results demonstrate, in tumor radiofrequency ablation technology, accurately location three ball covers the method for tumor, the requirement of reduced radius can be realized as a rule, doctor can be helped to implement operation more accurately and efficiently, and reduce the injury of operation normal tissue as much as possible, thus make radio-frequency ablation procedure more safe and effective.
Finally, it should be noted that above what enumerate is only specific embodiments of the invention.Obviously, the invention is not restricted to above embodiment, a lot of distortion can also be had.All distortion that those of ordinary skill in the art can directly derive or associate from content disclosed by the invention, all should think protection scope of the present invention.
Claims (1)
1. in tumor radiofrequency ablation technology, accurately location three ball covers a method for tumor, it is characterized in that, comprises the following steps:
(1) pretreatment is carried out to tumor image;
(2) three initial points in tumor image are determined;
(3) three balls are gone out by K-means algorithm cluster;
(4) radius and the sphere center position of three balls is adjusted;
The detailed process of described step (1) is:
Described tumor image refers to three-dimensional voxel image, and tumor image is amplified 3 ~ 5 pixels;
The detailed process of described step (2) is:
Pretreated tumor image in step (1) is handled as follows:
A, calculate the distance between any two points in tumor image, to select apart from maximum two o'clock as two initial points, be designated as x
1and x
2;
Any point remaining in B, calculating tumor image is to x
1and x
2distance, obtain two distances, select shorter distance in two distances and be designated as d
x, choose d
xas the 3rd initial point, be designated as x at minimum o'clock
3;
The detailed process of described step (3) is:
A, three the initial point x will chosen in step (2)
1, x
2and x
3as initial cluster center;
Each point in B, calculating tumor image to the distance of these three initial points, and carries out partition clustering according to minimum range to point;
C, calculate the circumscribed circle center of circle of three clusters as new center, and with these three centers newly determined for cluster centre circulates the process of above-mentioned steps (3), until three cluster centres no longer change, obtain three balls;
Described step (4) according to different demands, by two kinds of mode process, detailed process respectively:
In tumor radio-frequency (RF) ablation, to melt radius continuous for the burning of ablation needle, employing mode one: three balls obtained in step (3), according to the radius size of ball, if there is the ball of same radius to occur, assuming that one of them is large ball, middle ball or bead arbitrarily, the radius of the ball first utilizing iterative algorithm reduced radius maximum, then presses radius from big to small, reduce the radius of residue two balls successively, be namely adjusted three balls of rear covering tumor;
In tumor radio-frequency (RF) ablation, to melt radius discrete for the burning of ablation needle, adopts mode two:
A, melt the radius of three balls obtained in radius and step (3) according to the burning of ablation needle, the radius of ball will be not less than respectively, and melt radius closest to the burning of the ablation needle of the radius of a ball, respectively as the radius upper bound of three balls, enumerate all possible prioritization scheme, namely all burnings using ablation needle melt the possible assembled scheme of radius as the radius of three balls;
B, the prioritization scheme obtained in the steps A of step (4) to be verified respectively: by three napiform roots obtaining in step (3) according to position relationship, be divided into left ball, middle ball and right ball successively, and the step-length of the iteration step length and radius change that set centre of sphere movement is all K, and K refers to 5 pixels, different according to the arrangement position of the ball of required optimization, be handled as follows respectively:
The ball of a, required optimization is right ball: first allow the left ball centre of sphere move K to the middle ball centre of sphere, and the left radius of a ball increases K; Recycling iterative algorithm, obtain middle ball remove radius increase after the circumsphere of tumor region that comprises of left ball; Then allow the middle ball centre of sphere to the right the ball centre of sphere move K, the middle radius of a ball increases K; Recycling iterative algorithm, obtain right ball remove radius increase after the circumsphere of tumor region that comprises of middle ball; Above-mentioned four steps of last iterative cycles, and contrast all prioritization schemes enumerated to verify: if the radius of left ball or middle ball has exceeded the corresponding radius upper bound, and right ball does not reach the right radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is infeasible; If the radius of left ball and middle ball does not exceed the corresponding radius upper bound, and right ball reaches the right radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is feasible;
The ball of b, required optimization is middle ball: first allow the left ball centre of sphere move K to the middle ball centre of sphere, and the left radius of a ball increases K; Recycling iterative algorithm, obtain middle ball remove radius increase after the circumsphere of tumor region that comprises of left ball; Then allow the right ball centre of sphere move K to the middle ball centre of sphere, the right radius of a ball increases K; Recycling iterative algorithm, obtain middle ball remove radius increase after the circumsphere of tumor region that comprises of right ball; Above-mentioned four steps of last iterative cycles, and contrast all prioritization schemes enumerated to verify: if the radius of left ball or right ball has exceeded the corresponding radius upper bound, and middle ball does not reach the middle radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is infeasible; If the radius of left ball or right ball does not exceed the corresponding radius upper bound, and middle ball reaches the middle radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is feasible;
C, required optimization have two balls: first a or b that take steps be optimized one of them ball, if stop iteration when the radius of a ball of required optimization to reach in enumerated arrangements the scheme that two balls optimize, b or a that then take steps equally is optimized another ball; If the radius of a ball without the need to optimizing exceedes the radius upper bound corresponding to it, and the radius of two of required optimization balls does not reach the radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is infeasible; If two of required optimization balls reach the radius of two balls in prioritization scheme, and the radius of a ball without the need to optimizing does not exceed the radius of a ball in prioritization scheme, then stop circulation, this prioritization scheme is feasible;
Described iterative algorithm refers to: first set pixel L, M, S and be respectively large, medium and small three iteration step lengths, wherein L is 5 pixels, and M is 3 pixels, and S is 1 pixel, and then iteration step length adopts large iteration step length L, performs following steps:
Steps d: the centre of sphere conceded points all around 6 direction motion iteration step-lengths up and down, then the longest distance of tumor region to the post exercise centre of sphere is calculated, therefore each direction correspondence obtains a longest distance, select the direction moved as the centre of sphere in the direction in these 6 distances corresponding to the shortest that, the longest distance corresponding to this direction is exactly the new radius of the ball obtained after iteration;
Step e: repeated execution of steps d, until the radius of ball can not reduce again;
Reduce iteration step length successively, iteration step length M and little iteration step length S in namely adopting respectively, then perform steps d and step e, namely obtain the circumsphere corresponding to tumor region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310567760.6A CN103598915B (en) | 2013-11-13 | 2013-11-13 | In a kind of tumor radiofrequency ablation technology, accurately location three ball covers the method for tumor |
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| CN104046948B (en) * | 2014-05-26 | 2016-02-24 | 浙江大学 | Surface modification radio frequency ablation needle and application thereof |
| CN105997245B (en) * | 2016-01-28 | 2018-04-06 | 杭州奥视图像技术有限公司 | A kind of method that the accurate analog radio frequency ablation techniques of tumour are covered using ellipsoid |
| CN105931262B (en) * | 2016-07-13 | 2017-02-22 | 中国科学院合肥物质科学研究院 | Tumour position prediction apparatus |
| CN111002348B (en) * | 2019-12-25 | 2021-12-24 | 达闼机器人有限公司 | Robot performance testing method, robot and computer readable storage medium |
| CN111603239B (en) * | 2020-04-22 | 2023-06-02 | 哈尔滨医科大学 | Microwave device for tumor ablation treatment |
| CN111863264B (en) * | 2020-07-27 | 2021-06-22 | 哈尔滨医科大学 | Method for constructing zero-X-ray mapping ventricular premature beat three-dimensional model by adopting hot spot radius tracking method |
| CN113952030B (en) * | 2021-10-28 | 2023-12-15 | 北京深睿博联科技有限责任公司 | Planning method and device for needle insertion path and ablation position of radio frequency electrode |
| CN115486935B (en) * | 2022-11-02 | 2023-06-13 | 天津市鹰泰利安康医疗科技有限责任公司 | Ablation determination method and system |
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