CN108245244B - Radio frequency ablation method and device - Google Patents
Radio frequency ablation method and device Download PDFInfo
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Abstract
the invention belongs to the technical field of medical treatment, and provides a radio frequency ablation method and a radio frequency ablation device. The method comprises the following steps: acquiring information of at least one target point of a radio frequency needle to be inserted in an object to be detected; acquiring path information of the robot control radio frequency needle reaching each target point according to each target point information in the at least one target point information; and controlling the robot to insert the radio frequency needle into each target point in the object to be detected according to the path information. The invention effectively solves the problem that the prior art can not melt large liver tumors.
Description
Technical Field
the invention belongs to the technical field of medical treatment, and particularly relates to a radio frequency ablation method and a radio frequency ablation device.
background
The radio frequency ablation is a minimally invasive operation, tumor tissues are damaged by generating heat through high-frequency alternating current, blood loss can be reduced due to the radio frequency ablation, human body tissues cannot be damaged indirectly, and the method is an effective method for treating liver tumors. The prior art usually adopts single needle insertion, however, due to the limited insertion range of the radio frequency needle, the single needle insertion cannot generate a large enough effective ablation area, and is only suitable for ablation of small liver tumors, but cannot ablate large liver tumors.
therefore, a new technical solution is needed to solve the above technical problems.
disclosure of Invention
In view of this, the embodiments of the present invention provide a method and a device for radiofrequency ablation, so as to solve the problem that the prior art cannot ablate large liver tumors.
in a first aspect of the embodiments of the present invention, there is provided a method of radio frequency ablation, the method including:
Acquiring information of at least one target point of a radio frequency needle to be inserted in an object to be detected;
acquiring path information of the robot control radio frequency needle reaching each target point according to each target point information in the at least one target point information;
And controlling the robot to insert the radio frequency needle into each target point in the object to be detected according to the path information.
In a second aspect of embodiments of the present invention, there is provided a device for radiofrequency ablation, the device comprising:
the target point information acquisition module is used for acquiring at least one target point information of the incident frequency needle to be inserted in the object to be detected;
The path information acquisition module is used for acquiring path information of the robot control radio frequency needle reaching each target point according to each target point information in the at least one target point information;
And the control module is used for controlling the robot to insert the radio frequency needle into each target point in the object to be detected according to the path information.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: according to the embodiment of the invention, at least one target point information of the radio frequency needle to be inserted in the object to be detected is obtained, the path information of the robot for controlling the radio frequency needle to reach each target point is obtained according to each target point information in the at least one target point information, and the robot is controlled to insert the radio frequency needle into each target point in the object to be detected according to the path information, so that at least one radio frequency needle insertion is carried out on a single insertion point in the object to be detected, and further, the radio frequency ablation is carried out on the target object in the object to be detected, and the problem that the large liver tumor cannot be ablated in the prior art is effectively solved.
Drawings
in order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of a robotic system for RF ablation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a robot having a remote control center;
FIG. 3 is an exemplary illustration of a gap existing between the rotating mechanism of the robot and the patient's skin;
FIG. 4a is a schematic view of the structure of the rotating mechanism; figure 4b is an exemplary view of the insertion direction of the radiofrequency needle determined by the rotating mechanism;
FIG. 5 is a flowchart of an implementation of a method of RF ablation according to a second embodiment of the present invention;
Fig. 6 is an example diagram of an ablation planning model;
Fig. 7 is a schematic composition diagram of a radio frequency ablation apparatus according to a third embodiment of the present invention.
Detailed Description
in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
the first embodiment is as follows:
fig. 1 is a schematic diagram showing components of a robot system for rf ablation according to an embodiment of the present invention, and only the parts related to the embodiment of the present invention are shown for convenience of illustration.
as shown in fig. 1, the robot system includes a terminal (e.g., a computer) 1, an image pickup device 2 (e.g., a camera), and a robot (e.g., a surgical robot) 3.
The terminal 1 may perform image processing on image data of an object to be detected (such as a liver tumor patient), where the image data may be a medical image of the object to be detected from Computed Tomography (CT), Magnetic Resonance Imaging (MRI), Positron Emission Tomography (PET), and the like. The terminal 1 may automatically obtain target points for inserting the radio frequency needle for multiple times based on the image processing result, and then automatically obtain path information of the robot 3 by performing a series of configurations on a marker image (e.g., an image of an L-shaped marker attached to the object) on the object to be measured and a marker image (e.g., an image of an L-shaped marker attached to the robot) on the robot 3 captured by the imaging device 2, and the terminal 1 may control the robot 3 to complete the insertion of the radio frequency needle for multiple times through a single insertion point on the object to be measured under the navigation of the path information during the operation.
the robot 3 may be installed on a mobile robot platform, as shown in fig. 2, which is a schematic structural diagram of a robot with a Remote control Center, and the robot 3 may be composed of a mechanism for translating the rf needle and a rotating mechanism for changing the direction of the rf needle, wherein the robot 3 may use the rotating mechanism to realize the Remote Center of Motion (RCM). The translation mechanical device and the rotation mechanical device can enable the robot to complete the insertion of the radio frequency needle for multiple times through a single insertion point, so that the radio frequency ablation of large liver tumors is realized. As shown in fig. 2, the rotating mechanism may employ two motorized arcs (1 and 2 in fig. 2) to adjust the direction of the rf needle. Each arc has a slit for placement of a catheter. Each spherical arc creates a rotating joint that controls the direction of the radio frequency needle. The translation mechanism is used to perform the insertion movement of the radiofrequency needle. The insertion movement is effected by a motorized ball screw system.
In the actual robotic system configuration in a real surgical environment, the gap between the distal center of the rotating mechanism and the incision on the patient's skin is created due to system configuration limitations, blockage of mechanical sub-modules, and a reserved tolerance for patient breathing. An exemplary view of the gap that exists between the rotating mechanism of the robot and the patient's skin is shown in fig. 3. This gap makes the distal center of the rf needle (origin of the base frame) inconsistent with the desired incision, limiting the application of single insertion point multi-needle insertion. To address this problem, an exemplary diagram of two motorized linear slides integrated on a robotic system is shown in fig. 3. To reach each target point on the tumor, the two linear slides can adjust the position of the robot to compensate for the gap between the rotating mechanism and the patient's skin, ensuring that the center of the rotating mechanism is in line with a single insertion point on the patient's skin.
In the design of the robot, the combined motion of the two spherical arcs in the rotating mechanism determines the insertion direction of the radio frequency needle, and the insertion range depends on the translation range of the ball screw. As fig. 4a is a schematic view of the structure of the rotating mechanism and fig. 4b is an exemplary view of the insertion direction of the radiofrequency needle determined by the rotating mechanism, the direction of the radiofrequency needle can be determined by finding the intersection of planes defined by two spherical arcs. Considering the translation length of the radiofrequency needle, the homogeneous transformation matrix from the base frame O of the rotating mechanism to the tool frame E (the coordinate system in which the tip of the radiofrequency needle is located) can be described as:
Wherein q is1and q is2the rotation angles q of two rotation joints of the base frame O of the rotating mechanical device along the X axis and the Y axis respectively3For translation along Z' of the tool frame E, siand ciRespectively representing joint variables qiThe sine function and the cosine function of (a),
if the rotation angles q of the two rotary joints of the base frame O of the rotary mechanical device consisting of two spherical arcs along the X axis and the Y axis are known1and q is2And the amount of translation q along Z' of the tool frame E3the coordinate [ x ] of the radio frequency needle tip EE,yE,zE]Can be calculated by equation (2):
at the coordinate x of the known radio frequency tip EE,yE,zE]Then, the inverse dynamics q ═ q can be derived from equation (1)1,q2,q3]for controlling the movement of the rotating machine, the calculation formula is as follows:
wherein p isx、pyAnd pzx ', Y ' and Z ' coordinate values of the radio frequency tip are respectively.
the terminal 1 can automatically obtain target points for inserting the radio frequency needle for multiple times based on the image processing result, and the number of the inserted target points is the same as that of the target points. For each target point, the radio frequency needle can reach the target point through the insertion point by moving the two linear sliders, according to the coordinates of the target point, the coordinates of the insertion point and the height (namely Z coordinate) of the center point of an arch sphere (the remote motion center point, namely the origin of the base frame O) formed by two spherical arcs of the rotating mechanical device, an X coordinate and a Y coordinate of the remote motion center point, namely the moving distance of the two linear sliders are calculated by solving a linear equation through the coordinates of the three points, each joint variable of the mechanical device is calculated according to the formula (3) and is used for guiding the robot 3 to reach the target point, after the ablation needle is finished, the robot 3 moves back to the initial point, loads the next target point, and the process is repeatedly executed until the whole tumor is ablated. To ensure the safety of the surgical procedure, an interrupt is set in the procedure, allowing the surgeon to pause or change the procedure.
example two:
Fig. 5 shows an implementation flow of the rf ablation method according to the second embodiment of the present invention, which is detailed as follows:
step S501, obtaining information of at least one target point of the object to be tested, into which the radio frequency needle is to be inserted.
in an embodiment of the present invention, the object to be tested may be an object with a certain disease, such as a human or an animal with liver tumor. The target point may be a point where a radio frequency needle is inserted when a robot (e.g., a surgical robot) ablates a liver tumor of a patient. The target point information may refer to position information of a point where the radio frequency needle is inserted when the liver tumor of the patient is ablated.
Optionally, before obtaining information of at least one target point of the incident probe to be inserted in the object to be measured, the method further includes:
Establishing a coordinate system of the object to be detected;
the acquiring of the information of at least one target point of the object to be tested, into which the radio frequency needle is to be inserted, includes:
And acquiring the position information of each target point in at least one target point to be inserted with the radio frequency needle in the object to be detected in the object coordinate system to be detected.
optionally, the acquiring information of at least one target point of the object to be tested, where the radio frequency needle is to be inserted, includes:
acquiring image data of an object to be detected;
Acquiring information of a target object in the object to be detected from the image data, and dividing a target ablation region of the target object in the object to be detected according to a first ablation model;
And acquiring information of at least one target point of the object to be detected, into which the radio frequency needle is to be inserted, according to the target ablation region of the target object and at least one preset single ablation body.
in the embodiment of the present invention, before an operation, image data of an object to be measured is acquired, before the acquisition, a marker is attached to the object to be measured, then the acquisition is performed, the marker and a target (e.g., a tumor body) are segmented or reconstructed from the acquired image data by an image segmentation method, and after the segmented target is obtained, in order to completely ablate the target, a boundary of the target is extended by a certain range, so as to obtain a target ablation region a including the tumor region and a boundary region M (e.g., assuming that a tumor body T segmented from CT data of a patient is spherical, T is extended by a certain boundary M, so as to obtain the target ablation region a, the region inside the target ablation region a, and the region outside the tumor body T is the boundary region M). To optimize coverage of rf ablation, the effective ablation volume B (i.e., the preset single ablation volume) for a needle ablation can be approximated by a sphere, and based on this approximation, the problem of how to acquire target points in pre-operative planning becomes how to cover the target ablation area a with the minimum number of preset single ablation volumes B and contain as little normal tissue as possible. Wherein, the radius of the preset single ablation body B can be determined according to the range of the effective ablation volume of the common radio frequency needle when the common radio frequency needle is inserted into the tumor once. Fig. 6 shows an exemplary view of an ablation planning model, H being healthy tissue of a patient covered by a preset single ablation volume B and outside the target ablation area a.
The goal of preoperative planning is to determine a single insertion point on the skin and ablation target points of multiple radio frequency needles inside the tumor suitable for multiple overlap ablations of large tumors based on a personalized three-dimensional model of the patient created by medical image processing, so that multiple overlap ablations can completely cover the tumor area and reduce the damage to normal tissues as much as possible. In ablation planning, a small sphere is usually used to approximate the lesion area caused by one ablation; the goal of the planning is to cover the tumor area completely with as few as a set of pellets as possible and to contain as little normal tissue as possible.
optionally, the acquiring, according to the target ablation region of the target object and at least one preset single ablation body, at least one target point information of the radio frequency needle to be inserted in the object to be detected includes:
Covering the at least one preset single ablation body on a target ablation region of the target object, wherein the target ablation region comprises the target object T and a preset boundary region M, and the region, outside the target ablation region, covered by each single preset ablation body is a first region H;
Calculating a cost function of the at least one preset single ablation object and the target object according to the target object T, the preset boundary region M and the first region Hwherein N is the frequency of the frequency pin to be inserted in the object to be detected, and V is a preset single ablation body BiThe number of voxels in (a) is,to preset a single ablation volume Biper voxel, ω, of1Is the weight coefficient, omega, of the target object T2is the weight coefficient, omega, of the preset boundary region M3the weight coefficient of the first region H;
moving the at least one preset single ablation volume and/or changing the number of the at least one preset single ablation volume to obtain a plurality of cost functions C;
selecting the largest cost function C from the multiple cost functions CmaxAnd obtaining the maximum cost function CmaxThe number of the corresponding preset single ablations and the corresponding position information of each preset single ablation;
And determining the position information of the central point of each corresponding preset single ablation body according to the position information of each corresponding preset single ablation body, and taking the position information of the central point as the target point information of the incident frequency needle to be inserted in the object to be detected.
In an embodiment of the invention, in order to optimize the placement of the radiofrequency needle within the object, the boundary region and the first region are voxelized into a three-dimensional matrix, defining a cost function C with the intersection of at least one preset single ablation volume with the ablation object (i.e. the object). Wherein the content of the first and second substances,Whether the region in which the target T is located includes voxels or notIf so, the result of the intersection is 1, if not, the result of the intersection is 0,Means whether a voxel is included in the boundary region MIf so, the result of the intersection is 1, if not, the result of the intersection is 0,Means whether a voxel is included in the first region Hif yes, the result of the intersection is 1, and if no, the result of the intersection is 0. Weight coefficient omega1、ω2And ω3The distance between the center point of the target object T and the center point of the preset single ablation body B can be calculated, and the larger the distance is, the smaller the coefficient is, and the setting can be carried out according to an actual experience value. In this way, the target, the border region and the first region can be destroyed with a decreasing priority, and simplex optimization can be used to find the target point for optimal rf needle placement.
It should be noted that each cost function C corresponds to a group of preset single ablations, the number of the preset single ablations may be at least one, the number of the preset single ablations is the same as the number of target points for placing the radio frequency needle, and the central point of the preset single ablations is the target point for placing the radio frequency needle, as shown in fig. 6, if the value of the cost function C is the maximum in fig. 6, it is determined that the number of the target points is 6, and the 6 target points are the central points of the 6 preset single ablations respectively.
Step S502, according to each target point information in the at least one target point information, obtaining the path information of the robot control radio frequency needle reaching each target point.
Optionally, the obtaining, according to information of each target point in the at least one target point information, information of a path through which the robot controls the radio frequency needle to reach each target point includes:
establishing a coordinate system of the robot;
Acquiring the corresponding relation between the robot coordinate system and the coordinate system of the object to be measured;
acquiring the position information of each target point in the robot coordinate system according to the corresponding relation between the robot coordinate system and the object coordinate system to be detected and the position information of each target point in the object coordinate system to be detected;
and acquiring path information of the robot when the robot performs radio frequency needle insertion each time according to the position information of each target point in the robot coordinate system.
In order for the surgical robot to accurately reach the target point for placement of the radio frequency needle obtained by preoperative planning, the preoperative CT/MR image coordinate system needs to be registered with the actual physical coordinate system in the surgical space. For example, first, before acquiring a preoperative CT image, two 3D-printed L-shaped markers are attached to the abdomen of a patient and a predetermined position of a robot, respectively. And establishing a patient coordinate system according to the mark reconstructed on the CT image, and obtaining an insertion point on the skin and a target point of the radio frequency ablation (a target point of a radio frequency needle) in the tumor relative to the coordinate system in the operation planning. The intraoperative assumption is that the deformation of the target organ is acceptable for treatment, so that preoperative planning data can be used for the intraoperative treatment. In order to map the planning data from the patient coordinate system to the robot coordinate system, a Kinect camera is used to obtain point cloud data of L-shaped markers on the abdomen of the patient and the robot operating arm, and then point cloud fitting and statistical range searching methods are used to find a marked plane and establish a corresponding patient coordinate system and a corresponding robot coordinate system. And then, transforming preoperative planning data from a patient coordinate system to a robot coordinate system by using a world coordinate system in which the Kinect camera is positioned as a bridge through coordinate system transformation.
Wherein, let W, P, R respectively represent the world coordinate system, patient coordinate system and robot coordinate system obtained by Kinect, L-shaped markerr denotes an L-shaped mark. The goal of the registration is to find a transformation matrix from the patient coordinate system P to the robot coordinate system RCan be calculated using equation (4):
wherein the content of the first and second substances,A transformation matrix representing the robot coordinate system R to the world coordinate system W,a transformation matrix representing the patient coordinate system P to the world coordinate system W. Since P and R can be established by the method described above, we can easily obtain the origin of coordinates and the unit vector along each coordinate axis.AndIt can be calculated by equations (5) and (6):
wherein the content of the first and second substances,represents the orthogonal unit vector of R in W,Represents the origin of coordinates of R in W;Represents the orthogonal unit vector of R in W,representing the origin of coordinates of P in W. Based on the above formulaAnd then, the preoperative planned data can be changed into a robot coordinate system to obtain the coordinates of the radio frequency needle tip E under the robot coordinate system, then, each joint variable of the mechanical device can be calculated through a formula (3) and is used for guiding the robot to reach a target point, after one needle ablation is finished, the robot moves back to the initial point, the next target point is loaded, and the process is repeatedly executed until the whole tumor is ablated. To ensure the safety of the surgical procedure, an interrupt is set in the procedure, allowing the surgeon to pause or change the procedure.
Step S503, controlling the robot to insert the radio frequency needle into each target point in the object to be detected according to the path information.
In the embodiment of the invention, the path information of the robot controlling the radio frequency needle to reach each target point, namely the path information of the radio frequency needle insertion every time, is obtained according to the steps S501 and S502, so that the radio frequency ablation of the whole target object in the object to be detected is completed.
the embodiment of the invention can carry out at least one-time radio frequency needle insertion on a single insertion point in the object to be detected, further carry out radio frequency ablation on the target object in the object to be detected, and effectively solve the problem that the prior art can not carry out ablation on large liver tumors
example three:
fig. 7 is a schematic composition diagram of a radio frequency ablation apparatus according to a third embodiment of the present invention, and for convenience of illustration, only the parts related to the third embodiment of the present invention are shown, which are detailed as follows:
The device comprises:
The target point information acquiring module 71 is configured to acquire at least one piece of target point information of an incident frequency probe to be inserted in the object to be detected;
A path information obtaining module 72, configured to obtain, according to each target point information in the at least one target point information, path information of the robot-controlled radio frequency needle reaching each target point;
And the control module 73 is used for controlling the robot to insert the radio frequency needle into each target point in the object to be detected according to the path information.
optionally, the target point information obtaining module 81 includes:
an image data acquiring unit 711, configured to acquire image data of an object to be detected;
A target object information obtaining unit 712, configured to obtain information of a target object in the object to be detected from the image data, and to divide a target ablation region of the target object in the object to be detected according to a first ablation model;
A target point information obtaining unit 713, configured to obtain, according to the target ablation region of the target object and at least one preset single ablation body, at least one target point information of the rf needle to be inserted in the object to be detected.
optionally, the target point information obtaining unit 713 includes:
a covering subunit, configured to cover the at least one preset single ablation body in a target ablation region of the target object, where the target ablation region includes the target object T and a preset boundary region M, and a region outside the target ablation region covered by each preset single ablation body is a first region H;
a calculating subunit, configured to calculate a cost function of the at least one preset single ablation volume and the target object according to the target object T, the preset boundary region M, and the first region Hwherein N is the frequency of the frequency pin to be inserted in the object to be detected, and V is a preset single ablation body Bithe number of voxels in (a) is,To preset a single ablation volume BiPer voxel, ω, of1Is the weight coefficient, omega, of the target object T2is the weight coefficient, omega, of the preset boundary region M3The weight coefficient of the first region H;
the processing subunit is configured to move the terminal through the at least one preset single ablation volume and/or change the number of the at least one preset single ablation volume to obtain a plurality of cost functions C;
A selecting subunit for selecting the largest cost function C from the multiple cost functions CmaxAnd obtaining the maximum cost function Cmaxthe number of the corresponding preset single ablations and the corresponding position information of each preset single ablation;
and the determining subunit is configured to determine, according to the corresponding position information of each preset single ablation body, the position information of the central point of each corresponding preset single ablation body, and use the position information of the central point as target point information of an incident frequency needle to be inserted in the object to be detected.
optionally, the apparatus further comprises:
the establishing module 74 is configured to establish a coordinate system of the object to be detected before acquiring information of at least one target point of the incident frequency pin to be inserted in the object to be detected;
The target point information obtaining module 71 is specifically configured to:
And acquiring the position information of each target point of at least one target point to be inserted with the radio frequency needle in the object to be detected in the coordinate system of the object to be detected.
optionally, the path information obtaining module 72 includes:
An establishing unit 721 for establishing a coordinate system of the robot;
A correspondence obtaining unit 722, configured to obtain a correspondence between the robot coordinate system and the object coordinate system to be measured;
a position information obtaining unit 723, configured to obtain position information of each target point in the robot coordinate system according to a correspondence between the robot coordinate system and the object coordinate system to be detected and position information of each target point in the object coordinate system to be detected;
A path information obtaining unit 724, configured to obtain, according to the position information of each target point in the robot coordinate system, path information of the robot controlling the radio frequency needle to reach each target point.
the device for radiofrequency ablation provided by the embodiment of the present invention can be used in the second embodiment of the aforementioned corresponding method, and for details, reference is made to the description of the second embodiment, and details are not repeated here.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the foregoing function distribution may be completed by different functional modules as required, that is, the internal structure of the apparatus is divided into different functional modules, and the functional modules may be implemented in a hardware form or a software form. In addition, the specific names of the functional modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.
In summary, the embodiment of the invention can perform at least one rf needle insertion on a single insertion point in an object to be tested, and further perform rf ablation on a target object in the object to be tested, thereby effectively solving the problem that the prior art cannot perform ablation on large liver tumors
It will be further understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. An apparatus for radio frequency ablation, the apparatus comprising:
the target point information acquisition module is used for acquiring at least one target point information of the incident frequency needle to be inserted in the object to be detected;
the path information acquisition module is used for acquiring path information of the robot control radio frequency needle reaching each target point according to each target point information in the at least one target point information;
the control module is used for controlling the robot to insert the radio frequency needle into each target point in the object to be detected according to the path information;
The target point information acquisition module includes:
The image data acquisition unit is used for acquiring the image data of the object to be detected;
the target object information acquisition unit is used for acquiring information of a target object in the object to be detected from the image data and dividing a target ablation region of the target object in the object to be detected according to a first ablation model, wherein the first ablation model is used for expanding the boundary of the target object to a certain range to obtain a target ablation region containing the target object and a preset boundary region;
The target point information acquisition unit is used for acquiring at least one piece of target point information of the radio frequency needle to be inserted in the object to be detected according to the target ablation region of the target object and at least one preset single ablation body;
The target point information acquisition unit includes:
the covering subunit is used for covering the at least one preset single ablation body in a target ablation region of the target object, wherein the region, outside the target ablation region, covered by each preset single ablation body is a first region;
a calculating subunit, configured to calculate a generation of the at least one preset single ablation volume and the target object according to the target object, the preset boundary area, and the first areafunction of pricewherein T is the target, M is the preset boundary region, H is the first region, BiIs a preset single ablation body, N is the number of times of incidence of a frequency probe to be inserted in the object to be detected, V is the number of voxels in the preset single ablation body,for each voxel in the preset single ablation volume, ω1Is the weight coefficient, omega, of the object2Is the weight coefficient, omega, of the preset boundary region3the weight coefficient of the first area is;
A processing subunit, configured to move the at least one preset single ablation volume and/or change the number of the at least one preset single ablation volume, so as to obtain a plurality of cost functions C;
A selecting subunit for selecting the largest cost function C from the multiple cost functions CmaxAnd obtaining the maximum cost function Cmaxthe number of the corresponding preset single ablations and the corresponding position information of each preset single ablation;
and the determining subunit is configured to determine, according to the corresponding position information of each preset single ablation body, the position information of the central point of each corresponding preset single ablation body, and use the position information of the central point as target point information of an incident frequency needle to be inserted in the object to be detected.
2. The apparatus of claim 1, further comprising:
the device comprises an establishing module, a judging module and a judging module, wherein the establishing module is used for establishing a coordinate system of an object to be detected before acquiring information of at least one target point of an incident frequency pin to be inserted in the object to be detected;
the target point information obtaining module is specifically configured to:
And acquiring the position information of each target point in at least one target point to be inserted with the radio frequency needle in the object to be detected in the object coordinate system to be detected.
3. the apparatus of claim 2, wherein the path information obtaining module comprises:
the establishing unit is used for establishing a coordinate system of the robot;
a corresponding relation obtaining unit, configured to obtain a corresponding relation between the robot coordinate system and the object coordinate system to be measured;
A position information acquiring unit, configured to acquire position information of each target point in the robot coordinate system according to a correspondence between the robot coordinate system and the object coordinate system to be measured and position information of each target point in the object coordinate system to be measured;
And the path information acquisition unit is used for acquiring the path information of the robot for controlling the radio frequency needle to reach each target point according to the position information of each target point in the robot coordinate system.
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| WO2021255908A1 (en) * | 2020-06-18 | 2021-12-23 | 国立大学法人東京医科歯科大学 | Surgical instrument holding mechanism |
| CN112656506A (en) * | 2020-12-15 | 2021-04-16 | 中国科学院深圳先进技术研究院 | Method and device for confirming radio frequency ablation path and terminal equipment |
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| CN105408939A (en) * | 2013-07-23 | 2016-03-16 | 皇家飞利浦有限公司 | Registration system for registering an imaging device with a tracking device |
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| US9839482B2 (en) * | 2011-09-13 | 2017-12-12 | Koninklijke Philips N.V. | Ablation planning with lesion coverage feedback |
| JP6360052B2 (en) * | 2012-07-17 | 2018-07-18 | コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． | Imaging system and method enabling instrument guidance |
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