CN113488177A - Lung modeling method and system based on image data - Google Patents

Abstract

The application relates to a lung modeling method and system based on image data, which comprises the steps of obtaining lung image data of a patient; establishing a lung three-dimensional model according to the acquired lung image data of the patient; determining the lesion information of the lung of the patient according to the three-dimensional model of the lung; generating a preliminary radiofrequency electrode penetration parameter according to the lung lesion information of the patient; debugging the radio frequency electrode to generate final radio frequency electrode penetration parameters; formulating a preoperative plan according to the final radiofrequency electrode penetration parameter; generating a preoperative simulation animation based on the preoperative plan. This application has and need not to debug the radio frequency electrode many times and make its accurate target tumour of stabbing, and the debugging process is convenient and reduce the effect to the patient injury.

Description

Lung modeling method and system based on image data

Technical Field

The application relates to the technical field of mixed reality, in particular to a lung modeling method and system based on image data.

Background

Lung cancer is one of the most rapidly growing malignancies that threaten human health and life. In many countries, the incidence and mortality of lung cancer have been reported to be significantly higher in recent 50 years, with lung cancer incidence and mortality in men accounting for the first of all malignancies, in women accounting for the second, and mortality accounting for the second. The etiology of lung cancer is not completely clear up to now, and a large amount of data show that a large amount of smoking for a long time has a very close relationship with the occurrence of lung cancer.

When performing lung cancer surgery, a patient is usually examined by X-ray or CT to obtain two-dimensional image data, determine a diseased region, understand lung conditions, and then perform surgical treatment on the patient, but the surgery has a high risk due to the high complexity of the surgery.

With respect to the prior art in the above, the inventors consider that the following drawbacks exist: in the lung cancer operation process, medical personnel are difficult to the accurate definite because of the radio frequency electrode point of penetration, the angle of penetrating and the degree of depth of penetrating, so medical personnel need debug the radio frequency electrode many times and make it accurately penetrate the target tumour, but the debugging process is loaded down with trivial details and great to the patient injury, so this problem needs to be solved urgently.

Disclosure of Invention

In order to solve the problems that medical staff need to debug a radio frequency electrode for multiple times to enable the radio frequency electrode to accurately penetrate into a target tumor, but the debugging process is complicated and the damage to a patient is large, the lung modeling method and system based on image data are provided.

The lung modeling method based on the image data adopts the following technical scheme:

a lung modeling method based on image data at least comprises the following steps: acquiring lung image data of a patient; establishing a lung three-dimensional model according to the acquired lung image data of the patient; determining the lesion information of the lung of the patient according to the three-dimensional model of the lung; generating a preliminary radiofrequency electrode penetration parameter according to the lung lesion information of the patient; debugging the radio frequency electrode to generate final radio frequency electrode penetration parameters; formulating a preoperative plan according to the final radiofrequency electrode penetration parameter; generating a preoperative simulation animation based on the preoperative plan.

The present application in a preferred example may be further configured that, based on the acquired image data of the lung of the patient, establishing a three-dimensional model of the lung at least includes the following steps: s201, importing the lung image data of the patient into a computer, processing the lung image data of the patient through image processing software in the computer and constructing a three-dimensional lung model; s202, uploading the lung three-dimensional model to a display device, and controlling and processing the lung three-dimensional model through three-dimensional development software to realize the operations of selection, deletion, addition, scaling, movement, rotation, rendering and marking of the lung three-dimensional model by medical personnel.

The present application may be further configured in a preferred example, that the lung modeling method further includes establishing a three-dimensional skin model based on the acquired lung image data of the patient, the three-dimensional skin model including: the chest skin, the chest side skin and the back skin.

The present application may further be configured in a preferred example, wherein the step of commissioning the rf electrode and determining the final rf electrode penetration parameter comprises at least the steps of: establishing a three-dimensional model of a medical device, the three-dimensional model of the medical device comprising: the radio frequency electrode, the angle ruler and the length ruler; adjusting the puncture parameters of the radio frequency electrode in the display device to ensure that the radio frequency electrode can accurately puncture the target tumor of the patient; and a data processing unit in the display equipment generates radio frequency electrode insertion parameters through three-dimensional space positioning calculation.

The present application may be further configured in a preferred example, the preoperative plan includes: selecting the body position of the patient according to the puncturing parameters, wherein the body position is selected according to the principle that the patient is fixed and relatively comfortable, and a puncturing passage is considered;

sterilizing and anesthetizing;

positioning and puncturing;

scanning after operation;

and (4) performing postoperative treatment.

To achieve the above and other related objects, the present invention also provides an image data-based lung modeling system, including: a data acquisition module for acquiring lung image data of a patient; the lung three-dimensional establishing module is used for establishing a lung three-dimensional model according to the acquired lung image data of the patient; a lesion parameter module for determining patient lung lesion information based on the lung three-dimensional model; the ablation module is used for generating preliminary radiofrequency electrode penetration parameters according to the lung focus information of the patient; the debugging module is used for debugging the radio frequency electrode and determining the final penetration parameter of the radio frequency electrode; a planning module for formulating a preoperative plan based on the final radiofrequency electrode penetration parameters; an animation module to generate a preoperative simulated animation based on the preoperative plan.

The present application may be further configured in a preferred example that the data acquisition module includes: the image processing module is used for importing the lung image data of the patient into a computer, processing the lung image data of the patient through image processing software and constructing a lung three-dimensional model; the display module is used for uploading the lung three-dimensional model to display equipment, and controlling and processing the lung three-dimensional model through three-dimensional development software to realize the operations of selection, deletion, addition, equal-scale scaling, movement, rotation, rendering and marking of the lung three-dimensional model by medical personnel.

The present application may be further configured in a preferred example, the lung modeling system further includes a skin three-dimensional establishing module, configured to establish a skin three-dimensional model according to the acquired lung image data of the patient, where the skin three-dimensional model includes a chest skin module, a chest side skin module, and a back skin module.

The present application may be further configured in a preferred example, that the debugging module includes: the medical equipment three-dimensional establishing module is used for establishing a medical equipment three-dimensional model, and the medical equipment three-dimensional model comprises a radio frequency electrode model, an angle ruler model and a length ruler model; the manual module adjusts the puncturing parameters of the radio frequency electrode in the display equipment, so that the radio frequency electrode can accurately puncture the target tumor of the patient; and the three-dimensional calculation module is used for calculating the insertion parameters of the radio frequency electrode according to the three-dimensional space positioning in the data processing unit in the display equipment.

The present application may be further configured in a preferred example, wherein the planning module comprises:

the path selection module is used for selecting the body position of the patient according to the puncture parameters, and the principle of body position selection is that the patient is fixed and relatively comfortable and the puncture channel is considered;

the disinfection and anesthesia module is used for disinfecting and anesthetizing the puncture point;

the positioning and puncturing module is used for positioning the position of the target tumor and the position of a puncturing point;

the postoperative scanning module is used for carrying out full thoracic cavity scanning by using the image acquisition equipment again to evaluate whether the operation is successful or not;

a post-operative processing module for post-operative patient examination.

In summary, the present application includes at least one of the following beneficial technical effects:

1. medical staff plan the operation before the operation according to the three-dimensional model, and in the operation process, the medical staff can more accurately determine the penetration point, the penetration angle and the penetration depth of the radio-frequency electrode, reduce the times of debugging the radio-frequency electrode by the medical staff to enable the radio-frequency electrode to accurately penetrate into a target tumor, enable the operation process to be faster, increase the success rate of the operation, further ensure the safety of a patient and reduce the injury of the patient caused by the operation;

2. the skin three-dimensional building module is convenient for medical staff to determine the shortest distance of a straight line reaching the target tumor, and the possibility of body injury caused by the patient in the operation is reduced.

Drawings

Fig. 1 is a flowchart illustrating steps of a lung modeling method based on image data according to the present application.

FIG. 2 is a schematic diagram of the lung modeling system based on image data according to the present application

1. A data acquisition module; 2. a lung three-dimensional building module; 3. a focus parameter module; 4. an ablation module; 5. a debugging module; 6. a planning module; 7. and an animation module.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step in advance based on the embodiments in the present application, are within the scope of protection of the present application.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present.

As used herein, the term "health care provider" refers to a doctor, nurse, or any person associated with the procedure, and may include support personnel.

The present application is described in further detail below with reference to figures 1-2.

As shown in fig. 1, an embodiment of the present application discloses a lung modeling method based on image data, which at least includes the following steps:

as shown in fig. 1, S1, acquiring image data of the lung of the patient, wherein the image data includes ribs, lungs, and target tumor; for example, the lung image data of the patient can be scanned by image acquisition equipment such as DICOM, CT, nuclear magnetic resonance and the like, but the effect of acquiring the lung image data by adopting CT is better, and the pain of the patient in the operation can be relieved due to short time;

as shown in fig. 1, S2, establishing a three-dimensional lung model according to the acquired lung image data of the patient;

as shown in fig. 1, S201, the image data of the lung of the patient is imported into a computer, the image data of the lung of the patient is processed by image processing software in the computer, a file exported by DICOM is put into MIMICS, an STL format file is generated by processing of an image control system of MIMICS, and the generated STL format file is imported into three-dimensional mapping software to be opened to construct a preliminary three-dimensional model of the lung, but the preliminary three-dimensional model of the lung is rough and has low precision, and medical care personnel are easy to influence during diagnosis, so that the preliminary three-dimensional model of the lung needs to be refined, so that the medical care personnel can visually, effectively and accurately determine the position of the focus of the patient, i.e. the position of the target tumor;

as shown in fig. 1, uploading the three-dimensional lung model to a display device, wherein the display device includes a display, a flat panel or an MR device, and the like S202; and (3) importing the refined lung three-dimensional model into three-dimensional development software, such as UNITY 3D software, in a STL format, controlling the lung three-dimensional model through the three-dimensional development software, so that the medical staff can select, delete, add, scale-zoom, move, rotate, render and mark the lung three-dimensional model, and when the position or the angle of the three-dimensional model is inconvenient for the medical staff to observe, the medical staff can operate the three-dimensional model through a control processing unit in real equipment, so that the three-dimensional model is positioned at the optimal observation position and angle.

Determining the lesion information of the lung of the patient according to the three-dimensional lung model S3, as shown in FIG. 1; the pulmonary lesion information of the patient comprises the size of a target tumor, the position of a rib, the position of a blood vessel and the position of an organ, particularly the position of an intercostal blood vessel and an internal thoracic artery and vein, so that the possibility of blood vessel rupture caused by puncture in the operation is reduced, and the operation safety is improved; medical care personnel observe the lung three-dimensional model in the display equipment, diagnose the patient, and judge the information (needing to be supplemented) at the focus of the patient.

As shown in fig. 1, S4, generating preliminary rf electrode penetration parameters according to the lung lesion information of the patient, where the penetration parameters include: the point of penetration, the angle of penetration and the depth of penetration are included, the angle of penetration includes the angle and the head inclination angle or the foot inclination angle in the plane of CT scanning, when medical personnel perform surgery, the medical personnel can directly reach the target tumor position more accurately according to parameters to perform ablation, the debugging frequency in the surgery is reduced, and therefore the success rate of the surgery is increased and the pain of patients is reduced;

as shown in fig. 1, S5, debugging the rf electrode penetration parameter to generate a final rf electrode penetration parameter, including the following steps;

as shown in fig. 1, S501, establishing a three-dimensional model of a medical device, where the three-dimensional model of the medical device includes: the medical equipment three-dimensional model and the lung three-dimensional model are controlled in the display equipment through three-dimensional development software; the medical staff can complete the whole operation process in the display equipment, the operation time can be shortened, the operation pain of the patient can be reduced, and the operation efficiency and the success rate can be improved.

As shown in fig. 1, S502, adjusting the puncturing parameter of the radio-frequency electrode in the three-dimensional model of the medical device in the display device, so that the three-dimensional model of the radio-frequency electrode precisely punctures into the target tumor of the three-dimensional model of the lung of the patient; need not medical staff and debugs on the patient body at the operation in-process, reduce and exempt patient's misery, reduced the possibility that the debugging in-process caused the injury to the patient simultaneously to operation efficiency has been increased.

As shown in fig. 1, S503, the data processing unit in the display device calculates the insertion parameters of the rf electrode by three-dimensional space positioning; medical personnel can pierce the patient body according to the parameter is accurate, and direct patient target tumour melts it.

The lung modeling method further comprises the steps of establishing a three-dimensional skin model according to the acquired lung image data of the patient, wherein the three-dimensional skin model comprises the skin at the chest, the skin at the chest side and the skin at the back, measuring the shortest distance from the skin to a target tumor in a display device according to the three-dimensional skin model, and avoiding the straight path of visceral organs, ribs, blood vessels and organs.

As shown in fig. 1, S6, making a preoperative plan; the pleura puncture is from shallow to deep level: skin, subcutaneous tissue, deep fascia, muscular layers, intercostal muscles, intrathoracic fascia, parietal pleura, pleural cavity, target tumors. In order to make the whole operation process more accurate, a skin three-dimensional model is made according to lung image data of a patient, and the shortest distance from the skin to a focus and a penetration path are calculated.

As shown in fig. 1, the preoperative plan includes:

1. the body position of the patient is selected according to the puncturing parameters, and the principle of body position selection is that the patient is fixed and relatively comfortable, and the puncture channel is considered.

2. Monitoring vital signs.

3. Sterilizing and anesthetizing iodine tincture and alcohol, and spreading sterile towel; local infiltration and anesthesia are carried out on the puncture point by 1% -2% lidocaine until reaching the pleura.

4. Positioning and puncturing: the scanning range of each image acquisition device comprises the target tumor. The radio-frequency electrode is inserted into the body of a patient according to the insertion parameters of the radio-frequency electrode obtained through three-dimensional space positioning calculation, and the radio-frequency electrode is inserted into the target tumor through a puncture point under the monitoring of image acquisition equipment. And after confirming that the radio frequency electrode is in the preset position through the image data, carrying out ablation. To ensure complete ablation of the target tumor, the coverage of the rf electrode should include the target tumor and 0.5cm to 1.0cm of lung tissue around the tumor, so-called "ablation zone", under safety. Meanwhile, an ablation plan needs to be planned according to the size of the tumor, and the small tumor: the diameter is less than or equal to 3cm, and the single radio frequency ablation can be carried out. And (3) medium tumor: tumor with diameter of 3-5 cm, single multi-point radiofrequency ablation. Large tumors: tumors with the diameter of more than or equal to 5cm are treated by single multipoint radio frequency ablation, and radiotherapy or radio frequency ablation again are assisted if necessary.

5. Scanning after operation: and immediately carrying out full thoracic cavity scanning by using the image acquisition equipment again, and evaluating whether the technology is successful, namely whether the tumor is completely treated and covered according to an ablation procedure and whether complications occur or not.

6. And (3) postoperative treatment: postoperative recumbent 2H-4H and monitoring vital signs. Taking chest radiograph or CT scan after 24-48 h, and observing whether complications (such as asymptomatic pneumothorax or pleural effusion) occur.

Generating a preoperative simulation animation based on the preoperative plan, S7, as shown in fig. 1; a human body model and three-dimensional models of instruments required by each process are generated according to the preoperative planning steps and uploaded to display equipment for displaying, and the preoperative or intraoperative three-dimensional model plays an auxiliary guidance role for medical workers.

As shown in fig. 1, to sum up: medical personnel plan the operation before according to three-dimensional model, and in the operation process, medical personnel can more accurate definite radio frequency electrode pierce point, pierce the angle and pierce the degree of depth, reduce medical personnel and debug the number of times that radio frequency electrode made its accurate target tumour that pierces, make the operation process more swift and increased the success rate of operation, and then ensure patient's safety, reduce the injury that the patient brought because of the operation.

Referring to fig. 2, the present invention further provides a lung modeling system based on image data, comprising: a data acquisition module for acquiring lung image data of a patient; the lung three-dimensional establishing module is used for establishing a lung three-dimensional model according to the acquired lung image data of the patient; a lesion parameter module for determining patient lung lesion information based on the lung three-dimensional model; the ablation module is used for generating preliminary radiofrequency electrode penetration parameters according to the lung focus information of the patient; the debugging module is used for debugging the radio frequency electrode and determining the final penetration parameter of the radio frequency electrode; a planning module for formulating a preoperative plan based on the final radiofrequency electrode penetration parameters; an animation module to generate a preoperative simulated animation based on the preoperative plan.

As shown in fig. 2, the data acquisition module includes: the image processing module is used for importing the lung image data of the patient into a computer, processing the lung image data of the patient through image processing software and constructing a lung three-dimensional model; the display module is used for uploading the lung three-dimensional model to display equipment, and controlling and processing the lung three-dimensional model through three-dimensional development software to realize the operations of selection, deletion, addition, equal-scale scaling, movement, rotation, rendering and marking of the lung three-dimensional model by medical personnel.

As shown in fig. 2, the lung modeling system further includes a skin three-dimensional establishing module, configured to establish a skin three-dimensional model according to the acquired lung image data of the patient, where the skin three-dimensional model includes a chest skin module, a chest side skin module, and a back skin module.

As shown in fig. 2, the debugging module includes: the medical equipment three-dimensional establishing module is used for establishing a medical equipment three-dimensional model, and the medical equipment three-dimensional model comprises a radio frequency electrode model, an angle ruler model and a length ruler model; the manual module adjusts the puncturing parameters of the radio frequency electrode in the display equipment, so that the radio frequency electrode can accurately puncture the target tumor of the patient; and the three-dimensional calculation module is used for calculating the insertion parameters of the radio frequency electrode according to the three-dimensional space positioning in the data processing unit in the display equipment.

As shown in fig. 2, the planning module includes: the path selection module is used for selecting the body position of the patient according to the puncture parameters, and the principle of body position selection is that the patient is fixed and relatively comfortable and the puncture channel is considered; the disinfection and anesthesia module is used for monitoring vital signs, disinfecting and anesthetizing iodine tincture and alcohol, and paving a sterile towel; locally infiltrating and anesthetizing the puncture point by using 1-2% lidocaine until reaching the pleura; the scanning range of each image acquisition device comprises the target tumor. And the positioning and puncturing module is used for puncturing the body of the patient according to the insertion parameters of the radio-frequency electrode obtained by three-dimensional space positioning calculation, and the radio-frequency electrode punctures the target tumor through a puncture point under the monitoring of image acquisition equipment. And after confirming that the radio frequency electrode is in the preset position through the image data, carrying out ablation. To ensure complete ablation of the target tumor, the coverage of the rf electrode should include the target tumor and 0.5cm to 1.0cm of lung tissue around the tumor, so-called "ablation zone", under safety. Meanwhile, an ablation plan needs to be planned according to the size of the tumor, and the small tumor: the diameter is less than or equal to 3cm, and the single radio frequency ablation can be carried out. And (3) medium tumor: tumor with diameter of 3-5 cm, single multi-point radiofrequency ablation. Large tumors: tumors with the diameter of more than or equal to 5cm are treated by single multipoint radio frequency ablation, and radiotherapy is assisted or radio frequency ablation is carried out again when necessary; the postoperative scanning module is used for immediately carrying out full-thorax scanning by using the image acquisition equipment again, evaluating whether the technology is successful, namely whether the tumor is completely treated and covered according to an ablation program, and simultaneously observing whether complications occur; a post-operative processing module for post-operative lying 2H-4H and monitoring vital signs. Taking chest radiograph or CT scan after 24-48 h, and observing whether complications (such as asymptomatic pneumothorax or pleural effusion) occur.

Although the methods and systems described in detail herein are generally described with respect to the lung, it is contemplated that the modeling methods and systems described above may be applied to the liver, spleen, or any other organ.

While several embodiments of the present disclosure have been illustrated in the accompanying drawings, it is not intended to limit the disclosure thereto, but rather to make the disclosure as broad in scope as the art will allow, and the specification should be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments.

Claims (10)

1. A lung modeling method based on image data is characterized by at least comprising the following steps: acquiring lung image data of a patient; establishing a lung three-dimensional model according to the acquired lung image data of the patient; determining the lesion information of the lung of the patient according to the three-dimensional model of the lung; generating a preliminary radiofrequency electrode penetration parameter according to the lung lesion information of the patient; debugging the radio frequency electrode to generate final radio frequency electrode penetration parameters; formulating a preoperative plan according to the final radiofrequency electrode penetration parameter; generating a preoperative simulation animation based on the preoperative plan.

2. The method of claim 1, wherein the lung modeling based on image data comprises: according to the acquired lung image data of the patient, the establishment of the three-dimensional lung model at least comprises the following steps: s201, importing the lung image data of the patient into a computer, processing the lung image data of the patient through image processing software in the computer and constructing a three-dimensional lung model; s202, uploading the lung three-dimensional model to a display device, and controlling and processing the lung three-dimensional model through three-dimensional development software to realize the operations of selection, deletion, addition, scaling, movement, rotation, rendering and marking of the lung three-dimensional model by medical personnel.

3. The method of claim 1, wherein the lung modeling based on image data comprises: the lung modeling method further comprises the step of establishing a skin three-dimensional model according to the acquired lung image data of the patient, wherein the skin three-dimensional model comprises the following steps: the chest skin, the chest side skin and the back skin.

4. The method of claim 2, wherein the lung modeling based on image data comprises: the step of debugging the radio frequency electrode and the step of determining the final penetration parameters of the radio frequency electrode at least comprise the following steps: establishing a three-dimensional model of a medical device, the three-dimensional model of the medical device comprising: the radio frequency electrode, the angle ruler and the length ruler; adjusting the puncture parameters of the radio frequency electrode in the display device to ensure that the radio frequency electrode can accurately puncture the target tumor of the patient; and a data processing unit in the display equipment generates radio frequency electrode insertion parameters through three-dimensional space positioning calculation.

5. The method of claim 1, wherein the lung modeling based on image data comprises: the preoperative planning includes: selecting the body position of the patient according to the puncturing parameters, wherein the body position is selected according to the principle that the patient is fixed and relatively comfortable, and a puncturing passage is considered;

sterilizing and anesthetizing;

positioning and puncturing;

scanning after operation;

and (4) performing postoperative treatment.

6. A lung modeling system based on image data, characterized by: a data acquisition module for acquiring lung image data of a patient; the lung three-dimensional establishing module is used for establishing a lung three-dimensional model according to the acquired lung image data of the patient; a lesion parameter module for determining patient lung lesion information based on the lung three-dimensional model; the ablation module is used for generating preliminary radiofrequency electrode penetration parameters according to the lung focus information of the patient; the debugging module is used for debugging the radio frequency electrode and determining the final penetration parameter of the radio frequency electrode; a planning module for formulating a preoperative plan based on the final radiofrequency electrode penetration parameters; an animation module to generate a preoperative simulated animation based on the preoperative plan.

7. The image data-based lung modeling system of claim 6, wherein: the data acquisition module comprises: the image processing module is used for importing the lung image data of the patient into a computer, processing the lung image data of the patient through image processing software and constructing a lung three-dimensional model; the display module is used for uploading the lung three-dimensional model to display equipment, and controlling and processing the lung three-dimensional model through three-dimensional development software to realize the operations of selection, deletion, addition, equal-scale scaling, movement, rotation, rendering and marking of the lung three-dimensional model by medical personnel.

8. The image data-based lung modeling system of claim 6, wherein: the lung modeling system further comprises a skin three-dimensional establishing module, wherein the skin three-dimensional establishing module is used for establishing a skin three-dimensional model according to the acquired lung image data of the patient, and the skin three-dimensional model comprises a chest skin module, a chest side skin module and a back skin module.

9. The image data-based lung modeling system of claim 6, wherein: the debugging module comprises: the medical equipment three-dimensional establishing module is used for establishing a medical equipment three-dimensional model, and the medical equipment three-dimensional model comprises a radio frequency electrode model, an angle ruler model and a length ruler model; the manual module adjusts the puncturing parameters of the radio frequency electrode in the display equipment, so that the radio frequency electrode can accurately puncture the target tumor of the patient; and the three-dimensional calculation module is used for calculating the insertion parameters of the radio frequency electrode according to the three-dimensional space positioning in the data processing unit in the display equipment.

10. The image data-based lung modeling system of claim 6, wherein: the planning module comprises:

the path selection module is used for selecting the body position of the patient according to the puncture parameters, and the principle of body position selection is that the patient is fixed and relatively comfortable and the puncture channel is considered;

the disinfection and anesthesia module is used for disinfecting and anesthetizing the puncture point;

the positioning and puncturing module is used for positioning the position of the target tumor and the position of a puncturing point;

the postoperative scanning module is used for carrying out full thoracic cavity scanning by using the image acquisition equipment again to evaluate whether the operation is successful or not;

a post-operative processing module for post-operative patient examination.

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