CN113842210A - Vertebral tumor microwave ablation operation simulation method and device - Google Patents
Vertebral tumor microwave ablation operation simulation method and device Download PDFInfo
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Abstract
The invention discloses a method and a device for simulating a vertebral tumor microwave ablation operation, and relates to the technical field of medical instruments and simulation, wherein the method comprises the following steps: acquiring a magnetic resonance image of a patient in a current posture during an operation, performing image segmentation on the magnetic resonance image, establishing an individual model of the patient based on the segmented image, and registering the individual model according to a preoperative simulation model to obtain an accurate model of the patient in the current posture; inserting a microwave probe according to the position of a target contact pin, heating, collecting actual temperature data during heating, and correcting a microwave probe model by using the actual temperature data; and performing temperature simulation on the corrected target pin position of the microwave probe model in the precise model, and performing thermal damage assessment based on a temperature simulation result to correct the target pin position and the target heating duration so as to generate a surgical simulation scheme of the region to be ablated. The method can improve the accuracy and reliability of operation simulation and increase the success rate of the vertebral tumor microwave thermal ablation operation.
Description
Technical Field
The invention relates to the technical field of medical instruments and simulation, in particular to a method and a device for simulating a vertebral tumor microwave ablation operation.
Background
Due to the abundance of blood supply and the close association with regional lymphatic and venous drainage systems, vertebrae are prone to metastatic disease, with bone metastasis occurring in more than half of cancer patients before death. When the dynamic balance of new bone formation and old bone dissolution is broken by cancer cells, too much bone is decomposed to cause osteolytic lesions, or too much bone is made to form sclerosteous lesions, which can make bones more easily broken, and can also cause pain and nerve function damage caused by the compression of spinal cord or nerve root of a patient, and various complications can limit the function and the activity of the patient, thereby causing the reduction of the whole life quality. The structures of blood vessels, spinal cords and the like around the vertebrae are more complex and the difficulty of resection is greater than that of the liver and lungs, and although some progress has been made in treatment strategies, instruments and techniques in the past decades, the research on such tumors is still very limited, and clinical resection still relies mainly on surgical operation.
Magnetic resonance-guided thermal ablation of vertebral tumors has gained increasing attention in recent years because of minimal or even non-invasive and minimal blood loss. Currently common thermal ablation modalities include High Intensity Focused Ultrasound (HIFU), Radiofrequency (RFA), and microwave ablation (MWA). The penetration force of the ultrasonic focusing beam to bones is poor, and radio frequency can interfere with the excitation and the receiving of signals in magnetic resonance imaging, so that the most suitable vertebral tumor ablation mode guided by magnetic resonance is microwave, when the microwave acts on polar water molecules, the polar water molecules can be violently overturned to move, and the mutual friction generates heat, and meanwhile, the immunity of an organism can be improved by influencing the tumor microenvironment, and the anti-tumor capability is improved. Because the temperature rise speed of an ablation area is higher and the ablation area is wider without depending on the conduction of current in tissues, the heat sedimentation effect caused by blood perfusion is smaller, and the effect on large-volume tumors and high-impedance bone tumors is better.
Because the ablation is fast, the importance of real-time temperature monitoring in the operation is highlighted in order to eliminate the tumor and simultaneously to prevent the surrounding tissues from being damaged as much as possible, and the magnetic resonance imaging technology becomes an ideal imaging mode for the monitoring in the operation because of the advantages of abundant adjustable parameters, no ionizing radiation and the like. However, the real-time performance and accuracy of Magnetic Resonance Temperature Imaging (MRTI) still face many challenges, and the MRTI has not been popularized in thermal ablation of vertebral tumors.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, one purpose of the present invention is to provide a simulation method for a vertebral tumor microwave ablation operation, which can improve the accuracy and reliability of the operation simulation and increase the success rate of the vertebral tumor microwave thermal ablation operation.
The invention also aims to provide a simulation device for the vertebral tumor microwave ablation operation.
In order to achieve the above object, an embodiment of the invention provides a method for simulating a vertebral tumor microwave ablation operation, which comprises the following steps: acquiring a magnetic resonance image of a patient in a current posture during surgery, performing image segmentation on the magnetic resonance image, establishing an individual model of the patient based on the segmented image, and registering the individual model according to a preoperative simulation model to obtain an accurate model of the patient in the current posture; inserting a microwave probe according to the position of a target contact pin, heating, collecting actual temperature data during heating, and correcting a microwave probe model by using the actual temperature data; and performing temperature simulation on the corrected target pin position of the microwave probe model in the precise model, and performing thermal damage assessment based on a temperature simulation result so as to correct the target pin position and the target heating duration and generate an operation simulation scheme of the region to be ablated.
According to the simulation method for the vertebral tumor microwave ablation operation, the real environment parameters of a patient during the operation can be used for correcting the preoperative simulation scheme, and details such as the position of a needle and the heating time can be updated and finely adjusted on the basis of the preoperative simulation scheme, so that the accuracy and the reliability of the operation simulation can be improved, and the success rate of the vertebral tumor microwave thermal ablation operation is increased.
In addition, the simulation method for the microwave ablation surgery of the vertebral tumor according to the above embodiment of the invention may further have the following additional technical features:
further, performing thermal damage assessment based on the temperature simulation result to correct the target pin position and the target heating duration, comprising: determining an ablation boundary of the temperature simulation result based on an Arrhenius kinetic model; calculating an ablation ratio and a dice of the to-be-ablated area according to the ablation boundary and the boundary damage threshold, wherein the ablation ratio is the proportion of necrotic tissues in the tumor in the to-be-ablated area, and the dice is the intersection of the to-be-ablated area and all necrotic tissue areas divided by the union of the to-be-ablated area and all necrotic tissue areas; and determining the optimal matching of the thermal injury area and the area to be ablated according to the ablation ratio and the dice, and correcting the position of the target insertion needle and the target heating time length according to the needle position and the heating time length corresponding to the optimal matching.
Further, calibrating the microwave probe model using the actual temperature data includes: discretizing the heat conduction item in the biological heat transfer model to obtain a difference form; and importing the actual temperature data according to the difference form to obtain the distribution of the temperature in space and time, and obtaining the actual distribution of a heat source item through inverse solution of a Pennes equation so as to correct the microwave probe model according to the actual distribution of the heat source item.
Further, calibrating the microwave probe model using the actual temperature data includes: calculating a correction value according to the actual temperature data and the simulated value-measured value corresponding relation; and correcting the microwave probe model according to the correction value.
Further, the image segmentation of the magnetic resonance image and the creation of the individual model of the patient based on the segmented image comprise: identifying a region to be ablated and surrounding tissues and organs in the magnetic resonance image; and carrying out image segmentation on the region to be ablated and surrounding tissues and organs so as to generate an individual model of the patient according to the segmented images.
In order to achieve the above object, another embodiment of the present invention provides a simulation device for a vertebral tumor microwave ablation operation, including: the modeling module is used for acquiring a magnetic resonance image of a patient in a current posture during surgery, performing image segmentation on the magnetic resonance image, establishing an individual model of the patient based on the segmented image, and registering the individual model according to a preoperative simulation model to obtain an accurate model of the patient in the current posture; the correction module is used for inserting the microwave probe according to the position of the target contact pin, heating, collecting actual temperature data during heating and correcting the microwave probe model by using the actual temperature data; and the simulation module is used for carrying out temperature simulation on the corrected target pin position of the microwave probe model in the precise model, and carrying out thermal damage assessment based on a temperature simulation result so as to correct the target pin position and the target heating duration and generate a surgery simulation scheme of the region to be ablated.
The simulation device for the vertebral tumor microwave ablation operation, provided by the embodiment of the invention, can correct the preoperative simulation scheme by using the real environmental parameters of a patient during the operation, and can update and finely adjust the details such as the position of a needle, the heating time and the like on the basis of the preoperative simulation scheme, so that the accuracy and the reliability of operation simulation can be improved, and the success rate of the vertebral tumor microwave thermal ablation operation is increased.
In addition, the simulation device for the microwave ablation surgery of the vertebral tumor according to the above embodiment of the invention may also have the following additional technical features:
further, the simulation module is further configured to determine an ablation boundary of the temperature simulation result based on an Arrhenius kinetic model; calculating an ablation ratio and a dice of the to-be-ablated area according to the ablation boundary and the boundary damage threshold, wherein the ablation ratio is the proportion of necrotic tissues in the tumor in the to-be-ablated area, and the dice is the intersection of the to-be-ablated area and all necrotic tissue areas divided by the union of the to-be-ablated area and all necrotic tissue areas; and determining the optimal matching of the thermal injury area and the area to be ablated according to the ablation ratio and the dice, and correcting the position of the target insertion needle and the target heating time length according to the needle position and the heating time length corresponding to the optimal matching.
Further, the correction module is further used for discretizing the heat conduction item in the biological heat transfer model to obtain a difference form; and importing the actual temperature data according to the difference form to obtain the distribution of the temperature in space and time, and obtaining the actual distribution of a heat source item through inverse solution of a Pennes equation so as to correct the microwave probe model according to the actual distribution of the heat source item.
Further, the correction module is further configured to calculate a correction value according to the actual temperature data and the simulated value-measured value corresponding relationship; and correcting the microwave probe model according to the correction value.
Further, the modeling module is further used for identifying a region to be ablated and surrounding tissues and organs in the magnetic resonance image; and carrying out image segmentation on the region to be ablated and surrounding tissues and organs so as to generate an individual model of the patient according to the segmented images.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for simulating a vertebral tumor microwave ablation procedure according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for simulating a vertebral tumor microwave ablation procedure according to an embodiment of the present invention;
fig. 3 is a block diagram of a simulation device for a vertebral tumor microwave ablation surgery according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The present invention is based on the recognition and discovery by the inventors of the following problems:
based on the problems of the background art, if modeling of the region of interest of a patient and the heat source item of the microwave probe to be used can be completed before an operation, simulation is carried out on the temperature distribution on the basis, a doctor is assisted to determine a proper probe insertion path and heating parameters including power and time, the time of searching in the operation can be reduced, and the confidence of the doctor in the operation can be enhanced.
The existing simulation of the microwave thermal ablation operation of the vertebral tumor mainly has the following problems:
(1) the accuracy of the individual modeling of the patient is not enough, and the integrated consideration of the combination in the preoperative operation is not enough. CT (Computed Tomography) is widely used as a training object for automatic segmentation of a vertebral neural network, but the CT is inferior to MRI (Magnetic Resonance Imaging) in visualization of tumors and other soft tissues, so that the precision of delineation of an environment to be ablated around vertebrae is limited to a certain extent, while considering radiation dose and requirements for temperature monitoring, MRI is most reasonable for real surgical navigation, and the use of two medical images increases the requirements for professional cross-human input in scheme implementation and algorithm optimization; in addition, the model obtained before the operation is often not completely consistent with the posture of the patient during the actual operation, the patient model before the operation is directly adopted in the operation, and the obtained temperature distribution probably has system errors.
(2) The heat source model on the dummy is not completely suitable for real patients. In order to obtain the distribution of external heating source items, a heat source model of the microwave probe under a certain power condition can be obtained through a simulated body heating experiment before an operation without knowing the structural parameters of the probe, and although relevant scholars verify the electromagnetic characteristics similar to real tissues at 2.45GHz by self-making normal tissues and tumor simulated bodies, the environment of the probe in the real operation is as lifelike as possible[4]However, each patient has differential, heterogeneous tissue and tumor characteristics, and these mimetics ultimately fail to fully mimic different diseasesA human condition.
(3) There was hysteresis in the validation of the preoperative thermal injury assessment. The excessive damage of normal tissues is caused by the overlarge ablation surface, the incomplete ablation state of the tumor is caused by the insufficient ablation surface, the postoperative recurrence risk is increased, and the success rate of the operation is reduced. The gold standard for tissue necrosis determination is biopsy, but this feedback is not available quickly during surgery, and the surgery is performed according to the preoperative planning scheme without real-time verification and update, so that the surgical result, such as an open box, has great uncertainty.
Before formal surgery, firstly obtaining an image of a patient through magnetic resonance scanning, completing fast image segmentation and individualized modeling again by utilizing a neural network trained before the surgery, and registering with a fine model corrected by a doctor before the surgery to obtain an accurate model of the patient in the surgical position; on the basis, according to a probe insertion path planned before the operation, short-time microwave heating is carried out, a magnetic resonance real-time temperature measurement result is compared with simulation temperature distribution, a microwave probe heat source model is corrected, then a biological heat transfer model and an Arrhenius dynamic model are utilized to complete temperature simulation and heat damage assessment, and operation details such as probe insertion position, heating time and the like are finely adjusted.
The method and the device for simulating the vertebral tumor microwave ablation operation according to the embodiment of the invention will be described in detail with reference to the accompanying drawings, and firstly, the method for simulating the vertebral tumor microwave ablation operation according to the embodiment of the invention will be described with reference to the accompanying drawings.
Fig. 1 is a flow chart of a simulation method of a vertebral tumor microwave ablation surgery according to an embodiment of the invention.
As shown in fig. 1, the simulation method for the vertebral tumor microwave ablation operation comprises the following steps:
in step S101, a magnetic resonance image of the patient in the current posture during the operation is obtained, the magnetic resonance image is segmented, an individual model of the patient is established based on the segmented image, and the individual model is registered according to the preoperative simulation model, so as to obtain an accurate model of the patient in the current posture.
It can be understood that the embodiment of the invention can quickly convert the neural network rough segmentation model to the model of the patient in the posture by the image registration technology of the preoperative doctor-corrected model, and is quick and accurate, and a large amount of manpower for manual labeling is saved. Wherein the individual model of the patient may be referred to as the patient model for short.
In this embodiment, image segmentation is performed on the magnetic resonance image, and an individual model of the patient is built based on the segmented image, including: identifying a region to be ablated and surrounding tissues and organs in the magnetic resonance image; image segmentation is performed on the region to be ablated and surrounding tissues and organs so as to generate an individual model of the patient according to the segmented images.
The region to be ablated is the region where the tumor to be ablated is located, and the surrounding tissues and organs of the region to be ablated can be vertebrae, spinal cord and other surrounding main organs.
It will be appreciated that embodiments of the invention may incorporate deep learning for fast and accurate segmentation modeling and image registration of a patient using magnetic resonance imaging. Specifically, the method comprises the following steps: before operation, the neural network based on the Unet is trained to respectively finish the segmentation of vertebrae, tumors to be ablated, spinal cords and other peripheral main organs, and magnetic resonance is introduced to image blood vessels to form a relatively complete model, so that doctors can appropriately correct the model to obtain a more accurate model. And during formal surgery, performing magnetic resonance scanning on the patient on the surgical table again, performing fast segmentation by using a preoperative training network, and registering the roughly segmented individual model and the preoperative accurate model to obtain the accurate model in the posture.
It should be noted that, because CT radiation dose is large and other auxiliary means are required to measure intraoperative temperature distribution change in real time, MRI is used both before and during the operation in the embodiment of the present invention, MRI is used to guide images during the operation to monitor intraoperative temperature, and in order to avoid repetitive training and share the same neural network, the two segmented objects need to be kept uniform.
In step S102, the microwave probe is inserted into the target pin position and heated, the actual temperature data during heating is collected, and the microwave probe model is corrected using the actual temperature data.
It can be understood that the embodiment of the invention can effectively combine the preoperative simulation result, lay a foundation for fine adjustment of the operation scheme, and compare the measured temperature distribution with the simulation result by using the short-time heating after anesthesia of the patient, thereby correcting the heat source obtained in the phantom experiment. Wherein, the target pin position may be a pin position determined in a preoperative surgical simulation scheme.
Specifically, the embodiment of the invention can utilize the intraoperative magnetic resonance short-time temperature measurement experiment to correct the heat source item of the microwave probe, select a biological heat transfer model based on the Pennes equation, discretize the heat transfer item to obtain a difference form, obtain the distribution of the temperature in space and time, substitute the Pennes equation to obtain the distribution of the heat source item in a reverse solution manner, and is more friendly compared with the complex electromagnetic thermal coupling problem solving process under certain boundary adjustment and initial conditions, and has the greatest advantage that the internal structure of the probe is not needed.
It should be noted that, in the embodiment of the present invention, the microwave probe model may be modified in various ways, which are not specifically limited, and the implementation manner may be as follows:
as a possible implementation, the calibration of the microwave probe model with the actual temperature data includes: discretizing the heat conduction item in the biological heat transfer model to obtain a difference form; and importing actual temperature data according to a difference form to obtain the distribution of the temperature in space and time, and obtaining the actual distribution of the heat source term through inverse solution of a Pennes equation so as to correct the microwave probe model according to the actual distribution of the heat source term.
As another possible implementation, the calibration of the microwave probe model using the actual temperature data includes: calculating a correction value according to the actual temperature data and the simulated value-measured value corresponding relation; and correcting the microwave probe model according to the correction value.
Specifically, the energy absorption rate SAR distribution around the probe is obtained through a temperature measurement experiment on the dummy before an operation, but a certain difference always exists between the environment where the dummy is located and a real region to be ablated, and the calculated SAR distribution has some deviation, during a formal operation, a microwave probe is inserted according to a planned path, and the microwave probe is heated in a short time under the real environment of a patient, wherein the heating time can be set to be preset time, for example, about 1 minute without specific limitation; the measured temperature result can solve the SAR distribution in the same way, thereby updating the heat source item; or, the corresponding relationship between the simulated value and the measured value of the temperature layer can be directly found for calibration, so as to finely adjust the operation scheme,
in step S103, temperature simulation is performed on the corrected target pin position of the microwave probe model in the precise model, and thermal damage assessment is performed based on the temperature simulation result to correct the target pin position and the target heating duration, so as to generate a surgical simulation scheme of the region to be ablated.
It can be understood that the embodiment of the invention can complete new temperature simulation and damage assessment based on the corrected microwave probe model, update and fine adjustment of details such as the position of the insertion needle, the heating time and the like are carried out on the basis of the existing operation scheme, the accuracy and the reliability of operation simulation are improved, and the success rate of the vertebral tumor microwave thermal ablation operation is increased. Wherein, the target heating duration may be a heating parameter determined in the preoperative surgical simulation scheme.
In this embodiment, the thermal damage assessment based on the temperature simulation result to correct the target pin position and the target heating duration includes: determining an ablation boundary of a temperature simulation result based on an Arrhenius kinetic model; calculating an ablation ratio and a dice of the region to be ablated according to the ablation boundary and the boundary damage threshold, wherein the dice is the intersection of the region to be ablated and all necrotic tissue regions divided by the union of the region to be ablated and all necrotic tissue regions; and determining the optimal matching of the thermal injury area and the area to be ablated according to the ablation ratio and the dice so as to correct the position of the target insertion needle and the target heating time length according to the needle position and the heating time length corresponding to the optimal matching.
Specifically, the injury evaluation model in the embodiment of the invention adopts an Arrhenius kinetic model, and defines an ablation ratio to reflect the injury condition of the tumor, wherein the ablation ratio is the ratio of necrotic tissues in the tumor to the tumor; the concept of analog image segmentation defines a dice reflecting the damage to the surrounding tissue, where dice is the intersection of the tumor (i.e., the region to be ablated) and all necrotic tissue regions divided by the union.
In summary, the embodiments of the present invention combine the completed preoperative planning to perform intraoperative adjustment for the magnetic resonance guided microwave ablation of vertebral tumor surgery scheme, so as to improve the accuracy of the scheme. The method for simulating the vertebral tumor microwave ablation operation will be explained with reference to fig. 2, specifically as follows:
(1) firstly, the registration of a patient model is carried out, the position and the posture of a patient are not completely consistent during preoperative scanning and actual operation, wherein the change is required to be as small as possible, otherwise, the reference value of a preoperative planning scheme is reduced, so that after the patient lies on an operation table and before formal operation, the patient needs to be scanned again by magnetic resonance, the fast segmentation is completed by utilizing a preoperative training network, the roughly segmented model and the preoperative accurate model corrected by a doctor are subjected to feature detection and matching, and then the registration is carried out, so that the accurate model of the patient in the posture is obtained.
(2) And then anaesthetizing the patient, inserting a microwave probe according to a preoperative planned path, carrying out short-time heating, measuring temperature by using magnetic resonance, directly obtaining microwave heat source item distribution under the real environment of a to-be-ablated area by reversely solving a difference-form Pennes equation, and carrying out correction calibration on the heat source item established before the operation, or on the other hand, directly comparing actual measurement and simulation results of the temperature, and carrying out correction calibration on the temperature result.
(3) And finally, after the preoperative patient model and the heat source item are registered and corrected, the position and the heating duration of the insertion needle are finely adjusted through rapid temperature simulation and damage assessment, so that the operation confidence of a doctor is further enhanced.
According to the simulation method for the vertebral tumor microwave ablation operation, provided by the embodiment of the invention, the neural network rough segmentation model can be quickly converted into the model of the patient in the posture by an image registration technology of a preoperative doctor corrected model, so that the method is quick and accurate, a large amount of manual labeling labor is saved, and meanwhile, a preoperative simulation result is effectively combined to lay a foundation for fine adjustment of an operation scheme; the method has the advantages that the short-time heating after anesthesia of a patient is utilized, the actually measured temperature distribution is compared with a simulation result, so that a heat source obtained in a phantom experiment is corrected, new temperature simulation and damage assessment are completed, the updating and fine adjustment of details such as a needle inserting position, heating time and the like are carried out on the basis of the existing operation scheme, the accuracy and the reliability of operation simulation are improved, and the success rate of the vertebral tumor microwave thermal ablation operation is increased; in addition, as for preoperative planning, only the unique medical imaging technology of non-invasive and non-radiative MRI is used from image segmentation to temperature measurement experiment, and means such as CT, ultrasonic imaging or infrared imaging are not used, so that the post-processing process of the images is simplified and unified, a neural network trained preoperatively, a segmentation model, a heat source model and a planning model are effectively utilized, and the planning efficiency in the adjustment process in the operation is greatly improved.
Next, a vertebral tumor microwave ablation operation simulation device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 3 is a block diagram of a simulation device for a vertebral tumor microwave ablation surgery according to an embodiment of the invention.
As shown in fig. 3, the simulation device 10 for vertebral tumor microwave ablation surgery includes: a modeling module 100, a correction module 200, and a simulation module 300. Wherein,
the modeling module 100 is configured to obtain a magnetic resonance image of a patient in a current posture during an operation, perform image segmentation on the magnetic resonance image, establish an individual model of the patient based on the segmented image, and register the individual model according to a simulation model before the operation to obtain an accurate model of the patient in the current posture.
In the present embodiment, the modeling module 100 is further configured to identify the region to be ablated and the surrounding tissues and organs in the magnetic resonance image; image segmentation is performed on the region to be ablated and surrounding tissues and organs so as to generate an individual model of the patient according to the segmented images.
The correction module 200 is used for inserting the microwave probe according to the position of the target contact pin, heating, collecting actual temperature data during heating, and correcting the microwave probe model by using the actual temperature data;
in this embodiment, the calibration module 200 is further configured to discretize the thermal conduction term in the biological heat transfer model to obtain a differential form; and importing actual temperature data according to a difference form to obtain the distribution of the temperature in space and time, and obtaining the actual distribution of the heat source term through inverse solution of a Pennes equation so as to correct the microwave probe model according to the actual distribution of the heat source term.
In this embodiment, the calibration module 200 is further configured to calculate a calibration value according to the actual temperature data and the simulated value-measured value corresponding relationship; and correcting the microwave probe model according to the correction value.
The simulation module 300 is configured to perform temperature simulation on the corrected target pin position of the microwave probe model in the precise model, and perform thermal damage assessment based on the temperature simulation result to correct the target pin position and the target heating duration, so as to generate a surgical simulation scheme of the region to be ablated.
In this embodiment, the simulation module 300 is further configured to determine an ablation boundary of the temperature simulation result based on the Arrhenius kinetic model; calculating an ablation ratio and a dice of a region to be ablated according to the ablation boundary and the boundary damage threshold, wherein the ablation ratio is the proportion of necrotic tissues in the tumor in the region to be ablated, and the dice is the intersection of the region to be ablated and all the necrotic tissue regions divided by the union of the region to be ablated and all the necrotic tissue regions; and determining the optimal matching of the thermal injury area and the area to be ablated according to the ablation ratio and the dice so as to correct the position of the target insertion needle and the target heating time length according to the needle position and the heating time length corresponding to the optimal matching.
It should be noted that the foregoing explanation of the embodiment of the simulation method for vertebral tumor microwave ablation surgery is also applicable to the simulation device for vertebral tumor microwave ablation surgery of this embodiment, and is not repeated here.
According to the vertebral tumor microwave ablation operation simulation device provided by the embodiment of the invention, the neural network rough segmentation model can be quickly converted into the model of the patient in the posture by an image registration technology of a preoperative doctor corrected model, so that the operation is quick and accurate, a large amount of manual labeling labor is saved, and meanwhile, a preoperative simulation result is effectively combined to lay a foundation for fine adjustment of an operation scheme; the method has the advantages that the short-time heating after anesthesia of a patient is utilized, the actually measured temperature distribution is compared with a simulation result, so that a heat source obtained in a phantom experiment is corrected, new temperature simulation and damage assessment are completed, the updating and fine adjustment of details such as a needle inserting position, heating time and the like are carried out on the basis of the existing operation scheme, the accuracy and the reliability of operation simulation are improved, and the success rate of the vertebral tumor microwave thermal ablation operation is increased; in addition, as for preoperative planning, only the unique medical imaging technology of non-invasive and non-radiative MRI is used from image segmentation to temperature measurement experiment, and means such as CT, ultrasonic imaging or infrared imaging are not used, so that the post-processing process of the images is simplified and unified, a neural network trained preoperatively, a segmentation model, a heat source model and a planning model are effectively utilized, and the planning efficiency in the adjustment process in the operation is greatly improved.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A simulation method for a vertebral tumor microwave ablation operation is characterized by comprising the following steps:
acquiring a magnetic resonance image of a patient in a current posture during surgery, performing image segmentation on the magnetic resonance image, establishing an individual model of the patient based on the segmented image, and registering the individual model according to a preoperative simulation model to obtain an accurate model of the patient in the current posture;
inserting a microwave probe according to the position of a target contact pin, heating, collecting actual temperature data during heating, and correcting a microwave probe model by using the actual temperature data; and
and performing temperature simulation on the corrected target pin position of the microwave probe model in the precise model, and performing thermal damage assessment based on a temperature simulation result so as to correct the target pin position and the target heating duration and generate an operation simulation scheme of the region to be ablated.
2. The method of claim 1, wherein performing thermal damage assessment based on temperature simulation results to modify the target pin location and target heating duration comprises:
determining an ablation boundary of the temperature simulation result based on an Arrhenius kinetic model;
calculating an ablation ratio and a dice of the to-be-ablated area according to the ablation boundary and the boundary damage threshold, wherein the ablation ratio is the proportion of necrotic tissues in the tumor in the to-be-ablated area, and the dice is the intersection of the to-be-ablated area and all necrotic tissue areas divided by the union of the to-be-ablated area and all necrotic tissue areas;
and determining the optimal matching of the thermal injury area and the area to be ablated according to the ablation ratio and the dice, and correcting the position of the target insertion needle and the target heating time length according to the needle position and the heating time length corresponding to the optimal matching.
3. The method of claim 1, wherein using the actual temperature data to calibrate a microwave probe model comprises:
discretizing the heat conduction item in the biological heat transfer model to obtain a difference form;
and importing the actual temperature data according to the difference form to obtain the distribution of the temperature in space and time, and obtaining the actual distribution of a heat source item through inverse solution of a Pennes equation so as to correct the microwave probe model according to the actual distribution of the heat source item.
4. The method of claim 1, wherein using the actual temperature data to calibrate a microwave probe model comprises:
calculating a correction value according to the actual temperature data and the simulated value-measured value corresponding relation;
and correcting the microwave probe model according to the correction value.
5. The method of claim 1, wherein the image segmenting the magnetic resonance image and establishing an individual model of the patient based on the segmented image comprises:
identifying a region to be ablated and surrounding tissues and organs in the magnetic resonance image;
and carrying out image segmentation on the region to be ablated and surrounding tissues and organs so as to generate an individual model of the patient according to the segmented images.
6. A vertebral tumor microwave ablation operation simulation device is characterized by comprising:
the modeling module is used for acquiring a magnetic resonance image of a patient in a current posture during surgery, performing image segmentation on the magnetic resonance image, establishing an individual model of the patient based on the segmented image, and registering the individual model according to a preoperative simulation model to obtain an accurate model of the patient in the current posture;
the correction module is used for inserting the microwave probe according to the position of the target contact pin, heating, collecting actual temperature data during heating and correcting the microwave probe model by using the actual temperature data; and
and the simulation module is used for carrying out temperature simulation on the corrected target pin position of the microwave probe model in the precise model, and carrying out thermal damage assessment based on a temperature simulation result so as to correct the target pin position and the target heating duration and generate a surgery simulation scheme of the region to be ablated.
7. The apparatus of claim 6, wherein the simulation module is further configured to determine an ablation boundary of the temperature simulation result based on an Arrhenius kinetic model; calculating an ablation ratio and a dice of the to-be-ablated area according to the ablation boundary and the boundary damage threshold, wherein the ablation ratio is the proportion of necrotic tissues in the tumor in the to-be-ablated area, and the dice is the intersection of the to-be-ablated area and all necrotic tissue areas divided by the union of the to-be-ablated area and all necrotic tissue areas; and determining the optimal matching of the thermal injury area and the area to be ablated according to the ablation ratio and the dice, and correcting the position of the target insertion needle and the target heating time length according to the needle position and the heating time length corresponding to the optimal matching.
8. The device of claim 6, wherein the correction module is further configured to discretize the thermal conductivity term in the biological heat transfer model into a differential form; and importing the actual temperature data according to the difference form to obtain the distribution of the temperature in space and time, and obtaining the actual distribution of a heat source item through inverse solution of a Pennes equation so as to correct the microwave probe model according to the actual distribution of the heat source item.
9. The apparatus of claim 6, wherein the calibration module is further configured to calculate a calibration value according to the actual temperature data and the simulated value-measured value correspondence; and correcting the microwave probe model according to the correction value.
10. The apparatus of claim 6, wherein the modeling module is further configured to identify a region to be ablated and surrounding tissues and organs in the magnetic resonance image; and carrying out image segmentation on the region to be ablated and surrounding tissues and organs so as to generate an individual model of the patient according to the segmented images.
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