CN110942832B - Microwave ablation system - Google Patents
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Abstract
A microwave ablation system comprises a target area management module, a needle track management module, a thermal field calculation module and an ablation parameter calculation module. The target area management module generates a three-dimensional model according to the tumor image data, the needle track management module can perform adding, deleting and checking operation on ablation parameters, the thermal field calculation module performs thermal field simulation according to the ablation parameters, and the ablation parameter calculation module calculates the ablation parameters according to the target area three-dimensional model and the simulated thermal field. The invention can provide an ablation scheme which is based on tumor conformal and can face different needle distribution quantity and needle distribution mode requirements. The invention also provides a visualization module and an interaction module, which are convenient for human-computer interaction and ensure the safety of ablation through visualization.
Description
Technical Field
The invention relates to the field of microwave ablation, in particular to a microwave ablation system.
Background
Puncture path planning in microwave ablation surgery is a key step for ensuring high efficiency and safety of treatment planning. In clinic, two or more than two ablation needles are often adopted for simultaneous or sequential ablation for large tumors, and for the purposes of controlling the ablation range and estimating the ablation effect, clinicians often require the spatial mutual spatial positions of the ablation needles, in particular, require the ablation needles to be arranged according to a certain rule.
The existing ablation system mainly adopts two points, namely parallel needle distribution and ablation conformal. Aiming at large tumors, a method of arranging a plurality of parallel needles is adopted to expand the ablation range, and then the ablation ranges are combined to ensure conformal ablation. However, there are still countless ways of arranging needles according to the two rules, which makes planning difficult, complicated surgery and non-ideal planned execution.
At present, doctors have different needle arrangement habits when making an operation plan, so that operation difficulty and treatment effect are quite different, and meanwhile, the doctors cannot accurately estimate the distance between parallel needles and the distance between needle withdrawal so as to control the formed thermal field range.
Disclosure of Invention
The invention aims to: aiming at the problems, the invention provides a microwave ablation system which can give ablation parameters according to the tumor size.
The technical scheme is as follows: in order to achieve the purpose of the invention, the microwave ablation system comprises a target area management module, a needle track management module, a thermal field calculation module and an ablation parameter calculation module:
the target area management module is used for acquiring tumor target area image data and generating a target area three-dimensional model;
the needle track management module is used for storing ablation parameters and performing adding, deleting and checking operations, wherein the ablation parameters comprise ablation needle attribute information and spatial parameter information;
the thermal field calculation module is used for generating a simulation thermal field model according to the ablation parameters;
the ablation parameter calculation module is used for acquiring and initializing the ablation parameters of the needle track management module, comparing the target area three-dimensional model generated by the target area management module with the simulation thermal field model generated by the thermal field calculation module, selecting the needle distribution number and the needle distribution mode, and updating the ablation parameters, wherein the needle distribution number is single needle or multiple needles; the needle distribution mode comprises the following steps: parallel cloth needle model and card-backing cloth needle mode.
Further, the ablation needle attribute information includes: the type of the ablation needle, the diameter of the needle rod, the effective length, the position of a microwave emission window, the ablation power and the ablation duration.
Further, the spatial parameter information includes: the needle point position coordinates, the needle insertion point position coordinates, the needle track pitch angle, the deflection angle and the needle insertion depth.
Further, the ablation parameter calculation module is used for comparing the height of the three-dimensional model of the target area with the short diameter of the single-needle simulated thermal field model, if the height of the three-dimensional model of the target area is larger than the short diameter of the single-needle simulated thermal field model, the three-dimensional model of the target area is divided into a plurality of layers, each layer is provided with an ablation needle, and all layers of the ablation needles cover the whole target area through the simulated thermal field model generated by the thermal field calculation module;
on each layer, comparing the length of the three-dimensional model of the target area along the vertical direction of the ablation needle body with the short diameter of the single-needle simulated thermal field model, and if the length of the three-dimensional model of the target area along the vertical direction of the ablation needle body is larger than the short diameter of the single-needle simulated thermal field model, selecting a multi-needle parallel needle distribution mode to enable a plurality of ablation needles which are arranged in parallel to cover the whole target area through the simulated thermal field model generated by the thermal field calculation module;
and on each layer, comparing the length of the three-dimensional model of the target area along the direction of the ablation needle body with the long diameter of the single-needle simulated thermal field model, and if the length of the three-dimensional model of the target area along the direction of the ablation needle body is larger than the long diameter of the single-needle simulated thermal field model, selecting a needle withdrawal pattern to enable the ablation needle which is withdrawn for re-ablation for at least 1 time to cover the whole target area through the simulated thermal field model generated by the thermal field calculation module.
Further, the system further comprises:
the plan evaluation module is used for calculating plan parameter indexes including coverage rate, non-ablation rate and over-ablation rate between the planned ablation thermal field and the ablation target area;
the coverage rate is as follows: (Target n Abl)/Target 100%;
the non-ablative rate is: (1-coverage) ×100%;
the overablation rate is as follows: (Abl ≡tissue)/Abl 100%;
the Target is the coverage of the Target three-dimensional model generated by the Target management module, and Tissue is all normal Tissue ranges except the coverage of the Target three-dimensional model.
Further, the ablation parameter calculation module is further used for selecting a single-needle-cloth-needle mode or a multi-needle-cloth-needle mode, a parallel-needle-cloth-mode or a needle-withdrawing-needle-mode according to the principle that the coverage rate is 100% and the over-ablation rate is minimum, and calculating the optimal ablation parameters.
Further, the system further comprises:
the organ management module is used for acquiring image data of human organs, including image data of target organs where tumor target areas are located, and generating an organ three-dimensional model.
Further, the ablation parameter calculation module is further configured to: according to the organ three-dimensional model generated by the organ management module, puncture paths for avoiding other organs except the target organ where the tumor target area is located are generated, spatial parameter information is obtained, and the spatial parameter information is sent to the needle tract management module for storage; and setting an alert threshold according to the contour edge of the target organ, so that the coverage range of the simulated thermal field model does not exceed the alert threshold.
Further, the system further comprises:
the visualization module is used for displaying tumor target area image data, a target area three-dimensional model and an organ three-dimensional model, simulating an ablation needle and a path and a simulated thermal field model thereof, and displaying the plan parameter index calculated by the plan evaluation module;
and the interaction module is used for acquiring and analyzing the ablation parameter instruction and sending the ablation parameter instruction to the needle track management module.
The beneficial effects are that: the invention has the following beneficial effects:
1. layering needle distribution aiming at a tumor target area reduces needle distribution areas each time and reduces needle distribution difficulty;
2. the standardized needle distribution rule is formulated, so that the operation effect can be ensured, and the standardized and scientific development of the microwave industry is facilitated;
3. the needle is arranged on each axial position layer, the complete needle track can be seen through one CT picture, and the operation safety is ensured;
4. the operation plan made by the layering, parallel needle arrangement, needle withdrawal and other needle arrangement modes can be accurately controlled by combining the thermal field, so that the accuracy of the plan is ensured.
Drawings
FIG. 1 is a block diagram of a microwave ablation system;
FIG. 2 is a 100% coverage of a small tumor thermal field;
FIG. 3 is a tumor target region layered map;
fig. 4 is a schematic diagram of parallel needle feeding and retracting in this embodiment.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1, a block diagram of a microwave ablation system according to the present invention is shown, the system comprising:
the target area management module is used for acquiring tumor target area image data and generating a target area three-dimensional model;
the needle track management module is used for storing ablation parameters and performing adding, deleting and checking operations, wherein the ablation parameters comprise ablation needle attribute information and spatial parameter information;
in one embodiment, the ablation needle attribute information comprises: the type of the ablation needle, the diameter of the needle rod, the effective length, the position of a microwave emission window, the ablation power and the ablation duration.
In one embodiment, the spatial parameter information includes: the needle point position coordinates, the needle insertion point position coordinates, the needle track pitch angle, the deflection angle and the needle insertion depth.
The thermal field calculation module is used for generating a simulation thermal field model according to the ablation parameters;
the ablation parameter calculation module is used for acquiring and initializing the ablation parameters of the needle track management module, comparing the target area three-dimensional model generated by the target area management module with the simulation thermal field model generated by the thermal field calculation module, selecting the needle distribution number and the needle distribution mode, and updating the ablation parameters, wherein the needle distribution number is single needle or multiple needles; the needle distribution mode comprises the following steps: parallel cloth needle model and card-backing cloth needle mode.
In one embodiment, the ablation parameter calculation module is configured to compare the height of the three-dimensional target region model with the minor axis of the single-needle simulated thermal field model, and if the height of the three-dimensional target region model is greater than the minor axis of the single-needle simulated thermal field model, divide the three-dimensional target region model into a plurality of layers, each layer is provided with an ablation needle, and the simulated thermal field model generated by all the layers of ablation needles through the thermal field calculation module covers the entire target region;
on each layer, comparing the length of the three-dimensional model of the target area along the vertical direction of the ablation needle body with the short diameter of the single-needle simulated thermal field model, and if the length of the three-dimensional model of the target area along the vertical direction of the ablation needle body is larger than the short diameter of the single-needle simulated thermal field model, selecting a multi-needle parallel needle distribution mode to enable a plurality of ablation needles which are arranged in parallel to cover the whole target area through the simulated thermal field model generated by the thermal field calculation module;
and on each layer, comparing the length of the three-dimensional model of the target area along the direction of the ablation needle body with the long diameter of the single-needle simulated thermal field model, and if the length of the three-dimensional model of the target area along the direction of the ablation needle body is larger than the long diameter of the single-needle simulated thermal field model, selecting a needle withdrawal pattern to enable the ablation needle which is withdrawn for re-ablation for at least 1 time to cover the whole target area through the simulated thermal field model generated by the thermal field calculation module.
In one embodiment, the microwave ablation system further comprises:
the plan evaluation module is used for calculating plan parameter indexes including coverage rate, non-ablation rate and over-ablation rate between the planned ablation thermal field and the ablation target area;
the coverage rate is as follows: (Target n Abl)/Target 100%;
the non-ablative rate is: (1-coverage) ×100%;
the overablation rate is as follows: (Abl ≡tissue)/Abl 100%;
the Target is the coverage of the Target three-dimensional model generated by the Target management module, and Tissue is all normal Tissue ranges except the coverage of the Target three-dimensional model.
In one embodiment, the ablation parameter calculation module is further configured to select a single-needle mode or a multi-needle mode, a parallel-needle mode or a needle withdrawal mode according to a principle that the coverage rate is 100% and the over-ablation rate is minimum, and calculate an optimal ablation parameter.
In one embodiment, the microwave ablation system further comprises:
the organ management module is used for acquiring image data of human organs, including image data of target organs where tumor target areas are located, and generating an organ three-dimensional model.
In one embodiment, the ablation parameter calculation module is further configured to: according to the organ three-dimensional model generated by the organ management module, puncture paths for avoiding other organs except the target organ where the tumor target area is located are generated, spatial parameter information is obtained, and the spatial parameter information is sent to the needle tract management module for storage; and setting an alert threshold according to the contour edge of the target organ, so that the coverage range of the simulated thermal field model does not exceed the alert threshold.
In one embodiment, the microwave ablation system further comprises:
the visualization module is used for displaying tumor target area image data, a target area three-dimensional model and an organ three-dimensional model, simulating an ablation needle and a path and a simulated thermal field model thereof, and displaying the plan parameter index calculated by the plan evaluation module;
and the interaction module is used for acquiring and analyzing the ablation parameter instruction and sending the ablation parameter instruction to the needle track management module. The instructions acquired by the interaction module comprise typing of the ablation parameters and dragging of the image data displayed by the visualization module. The interaction module analyzes the instruction into ablation parameters, the ablation parameters are sent to the needle track management module, a corresponding simulation thermal field model is obtained by the thermal field calculation module, and the ablation parameter calculation module updates the needle distribution number and the needle distribution mode in real time according to the ablation parameters.
As shown in fig. 2, when a single ablation needle 3 cannot cover a tumor target area 1 (a shadow portion), if a large power is adopted, the tissue is carbonized and is harmful to a human body, so that a large tumor is ablated by adopting a common power layering combination mode. However, as the situation that the combined simulated thermal field model 2 cannot be simulated to cover the ablation target area is easy to generate omission in the space of the ablation target area, the invention is suitable for small tumor ablation and simultaneously focuses on solving the problem of accurate coverage of large tumor ablation.
Example 1
A microwave ablation system, comprising:
the target area management module is used for acquiring image data of the tumor target area 1 and generating a target area three-dimensional model;
the needle track management module is used for storing ablation parameters and performing adding, deleting and checking operations;
the ablation parameter calculation module is used for acquiring and initializing the ablation parameters of the needle track management module, comparing the target area three-dimensional model generated by the target area management module with the simulated thermal field model 2 generated by the thermal field calculation module, selecting the needle distribution number and the needle distribution mode, and updating the ablation parameter information;
the thermal field calculation module is used for generating a simulation thermal field model 2 according to the ablation parameters;
a microwave ablation method is applied to the microwave ablation system, and comprises the following steps:
(1) The target area management module acquires image data of a tumor target area 1 and generates a target area three-dimensional model;
(2) The needle track management module provides common ablation parameter information;
(3) The thermal field calculation module acquires ablation parameters of the needle track management module and generates a simulation thermal field model 2;
(4) The ablation parameter calculation module acquires ablation parameter information, plans the number of the needles and the needle distribution mode, and divides an ablation target area into a plurality of layers when the height of the ablation target area is larger than the ablation short diameter of the single-needle simulated thermal field model 2, and the ablation target area is not omitted between the upper layer and the lower layer; on each layer, if the minor diameter of the simulated thermal field model 2 is smaller than the length of the ablation target area in the direction, selecting a multi-needle flat advancing needle, and an ablation target area between parallel needles is omitted; if the long diameter of the simulation thermal field model 2 is smaller than the long diameter of the ablation target area, selecting needle withdrawing cloth needles to ensure an ablation target area between the current needle and the previous needle without omission, and updating ablation parameters by the needle track management module.
The ablation target area is divided into a plurality of layers as shown in fig. 3, common ablation parameters are acquired, the upper layer and the lower layer can be completely covered by the short-diameter combination of the simulated thermal field model 2, and each layer is an axial position of a CT image.
The cloth needle of each layer is shown in fig. 4, and the short axis combination of the simulation thermal field model 2 of the parallel needles completely covers the direction of the tumor target area 1, so that the distance between the parallel needles is determined; the long axis combination of the simulated thermal field model 2 of needle withdrawal completely covers the tumor target zone 1 in this direction, thereby determining the needle withdrawal distance 4.
(5) The thermal field calculation module acquires ablation parameters of the needle track management module and updates the range of the simulation thermal field model 2;
example 2
As shown in fig. 2, to achieve 100% coverage of a small tumor smaller than 3cm, an ablation method based on the above microwave ablation system includes the steps of:
(1) Aiming at a small tumor target area 1 smaller than 3cm, a management module acquires image data of the tumor target area 1 and generates a target area three-dimensional model;
(2) The needle path management module establishes an ablation needle 3, and the interaction module selects initial ablation parameters including needle type;
(3) The thermal field calculation module generates a simulation thermal field 2 model according to the ablation parameters;
(4) The ablation parameter calculation module calculates the power time and position information required by 100% coverage tumor, and updates the ablation parameter information of needle management;
(5) The plan evaluation module calculates coverage rate, over-ablation rate and un-ablation rate;
(6) According to the plan parameter index displayed by the plan evaluation module in real time, the interaction module acquires a fine adjustment instruction of the ablation parameter, so that the coverage rate is 100%, the over-ablation rate is smaller, and the ablation parameter information at the moment is stored in the needle track management module.
Example 3
(1) The target area management module acquires image data of a tumor target area 1 and generates a target area three-dimensional model;
(2) The organ management module acquires organ image data and generates an organ three-dimensional model;
(3) The visualization module acquires image data of a tumor target area 1 and organs to form two-dimensional and three-dimensional visualization images, wherein the two-dimensional and three-dimensional visualization images comprise axial position images, coronal position images, sagittal position images and three-dimensional model images;
(4) The needle track management module establishes common ablation parameter information;
(5) The thermal field calculation module is used for generating a simulation thermal field model 2 according to the ablation parameters;
(6) An ablation parameter calculation module for acquiring and initializing the ablation parameters of the needle track management module, comparing the three-dimensional model of the target area generated by the target area management module with the simulated thermal field model 2 generated by the thermal field calculation module, selecting the needle distribution number and the needle distribution mode, updating the ablation parameter information, avoiding organs except the tumor target area 1 when updating the space information,
(7) When the thermal field calculation module updates the simulated thermal field model 2 according to the ablation parameters, the distance between the simulated thermal field model 2 and the organ is larger than the warning threshold value, and if the distance is smaller than the warning threshold value, an information prompt is given.
Claims (8)
1. A microwave ablation system, characterized in that the system comprises a target area management module, a needle track management module, a thermal field calculation module and an ablation parameter calculation module:
the target area management module is used for acquiring tumor target area image data and generating a target area three-dimensional model;
the needle track management module is used for storing ablation parameters and performing adding, deleting and checking operations, wherein the ablation parameters comprise ablation needle attribute information and spatial parameter information;
the thermal field calculation module is used for generating a simulation thermal field model according to the ablation parameters;
the ablation parameter calculation module is used for acquiring and initializing the ablation parameters of the needle track management module, comparing the target area three-dimensional model generated by the target area management module with the simulation thermal field model generated by the thermal field calculation module, selecting the needle distribution number and the needle distribution mode, and updating the ablation parameters, wherein the needle distribution number is single needle or multiple needles; the needle distribution mode comprises the following steps: a parallel cloth needle mode and a card-withdrawing cloth needle mode;
the ablation parameter calculation module is used for comparing the height of the three-dimensional model of the target area with the short diameter of the single-needle simulated thermal field model, if the height of the three-dimensional model of the target area is larger than the short diameter of the single-needle simulated thermal field model, the three-dimensional model of the target area is divided into a plurality of layers, each layer is provided with an ablation needle, and the simulated thermal field model generated by the thermal field calculation module of all layers covers the whole target area;
on each layer, comparing the length of the three-dimensional model of the target area along the vertical direction of the ablation needle body with the short diameter of the single-needle simulated thermal field model, and if the length of the three-dimensional model of the target area along the vertical direction of the ablation needle body is larger than the short diameter of the single-needle simulated thermal field model, selecting a multi-needle parallel needle distribution mode to enable a plurality of ablation needles which are arranged in parallel to cover the whole target area through the simulated thermal field model generated by the thermal field calculation module;
and on each layer, comparing the length of the three-dimensional model of the target area along the direction of the ablation needle body with the long diameter of the single-needle simulated thermal field model, and if the length of the three-dimensional model of the target area along the direction of the ablation needle body is larger than the long diameter of the single-needle simulated thermal field model, selecting a needle withdrawal pattern to enable the ablation needle which is withdrawn for re-ablation for at least 1 time to cover the whole target area through the simulated thermal field model generated by the thermal field calculation module.
2. The microwave ablation system according to claim 1, wherein the ablation needle attribute information includes: the type of the ablation needle, the diameter of the needle rod, the effective length, the position of a microwave emission window, the ablation power and the ablation duration.
3. The microwave ablation system according to claim 1, wherein the spatial parameter information includes: the needle point position coordinates, the needle insertion point position coordinates, the needle track pitch angle, the deflection angle and the needle insertion depth.
4. The microwave ablation system according to claim 1, further comprising:
the plan evaluation module is used for calculating plan parameter indexes including coverage rate, non-ablation rate and over-ablation rate between the planned ablation thermal field and the ablation target area;
the coverage rate is as follows: (Target n Abl)/Target 100%;
the non-ablative rate is: (1-coverage) ×100%;
the overablation rate is as follows: (Abl ≡tissue)/Abl 100%;
the Target is the coverage of the Target three-dimensional model generated by the Target management module, and Tissue is all normal Tissue ranges except the coverage of the Target three-dimensional model.
5. The microwave ablation system according to claim 4, wherein: the ablation parameter calculation module is also used for selecting a single-needle cloth needle mode or a multi-needle cloth needle mode, a parallel needle cloth needle mode or a needle withdrawing needle cloth needle mode according to the principle that the coverage rate is 100% and the over-ablation rate is minimum, and calculating the optimal ablation parameters.
6. The microwave ablation system according to claim 1, further comprising:
the organ management module is used for acquiring image data of human organs, including image data of target organs where tumor target areas are located, and generating an organ three-dimensional model.
7. The microwave ablation system according to claim 6, wherein the ablation parameter calculation module is further configured to: according to the organ three-dimensional model generated by the organ management module, puncture paths for avoiding other organs except the target organ where the tumor target area is located are generated, spatial parameter information is obtained, and the spatial parameter information is sent to the needle tract management module for storage; and setting an alert threshold according to the contour edge of the target organ, so that the coverage range of the simulated thermal field model does not exceed the alert threshold.
8. The microwave ablation system according to claim 7, further comprising:
the visualization module is used for displaying tumor target area image data, a target area three-dimensional model and an organ three-dimensional model, simulating an ablation needle and a path and a simulated thermal field model thereof, and displaying the plan parameter index calculated by the plan evaluation module;
and the interaction module is used for acquiring and analyzing the ablation parameter instruction and sending the ablation parameter instruction to the needle track management module.
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| CN112315579B (en) * | 2020-11-25 | 2021-07-02 | 上海睿刀医疗科技有限公司 | Electrode needle distribution device and method based on focus area |
| CN112603536A (en) * | 2020-12-29 | 2021-04-06 | 北京华科恒生医疗科技有限公司 | Method and system for generating electrode thermal coagulation parameters in three-dimensional model |
| CN112998849A (en) * | 2021-02-08 | 2021-06-22 | 南京航空航天大学 | Microwave conformal ablation method based on multi-needle combination |
| CN113729934A (en) * | 2021-10-12 | 2021-12-03 | 北京航空航天大学 | Tumor ablation simulation method and system |
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| CN109077804A (en) * | 2018-08-19 | 2018-12-25 | 天津大学 | A kind of Microwave Coagulation Therapy method of planning based on ct images |
| CN110263489A (en) * | 2019-07-04 | 2019-09-20 | 南京航空航天大学 | Liver tumour microwave ablation Three-Dimensional Simulation of Temperature Fields method based on DICOM data |
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