CN117064552B - Auxiliary planning system for preoperative self-adaptive matching of tumor morphology - Google Patents
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
- A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The invention belongs to the technical field of preoperative planning, and particularly relates to an auxiliary planning system for preoperative self-adaptive matching of tumor morphology, which comprises a data acquisition module, a data storage module, a data calling module, an evaluation module, a self-adaptive matching module, an optimization module and a central control module, wherein the data acquisition module is used for acquiring position information, image information and morphology information of a first feature, and the image information comprises a plurality of reference images. According to the invention, the needle insertion path can be planned by processing and analyzing the image based on the medical image, so that reference is provided for the actual operation process, the puncture accuracy is further improved, and meanwhile, the single ablation area and the ablation point can be pre-determined according to the tumor form in the image, so that the planned path has better reference.
Description
Technical Field
The invention belongs to the technical field of preoperative planning, and particularly relates to an auxiliary planning system for preoperative self-adaptive matching of tumor morphology.
Background
Along with the continuous development of the informatization technology, the application of the informatization technology in the medical field is more and more extensive, common technical means include medical image assistance, intraoperative path planning assistance and the like, when performing operation on organs or tissues in a human body, the informatization technology assistance can often increase the success rate of the operation, meanwhile, the operation time can also be correspondingly shortened, the time for a patient to receive the operation treatment can also be correspondingly shortened, the pain degree after the operation can also be correspondingly reduced, the planning of an ablation path before the operation is necessary in the aspect of tumor ablation treatment, the operation time in the operation can be reduced, the fatigue degree of doctors can also be reduced.
In the prior art, when microwave ablation is performed on a tumor, the ablation point is usually determined only through subjective judgment of medical staff, and then the microwave ablation is performed, so that although the purpose of tumor ablation can be achieved, excessive and irreparable damage can be caused to other tissues or organs in a patient, meanwhile, the damage can be further expanded due to the fact that the tumor form cannot be determined, and the postoperative recovery period of the patient can be undoubtedly, and based on the scheme, the microwave ablation control system capable of predetermining the ablation point according to the tumor form is provided.
Disclosure of Invention
The invention aims to provide an auxiliary planning system for preoperative self-adaptive matching of tumor morphology, which can pre-determine ablation points according to the tumor morphology, reduce pain of a patient and simultaneously reduce damage to other normal tissues or organs in a microwave ablation process.
The technical scheme adopted by the invention is as follows:
an auxiliary planning system for self-adaptive matching of tumor morphology for preoperative comprises a data acquisition module, a data storage module, a data calling module, an evaluation module, a self-adaptive matching module, an optimization module and a central control module;
the data acquisition module is used for acquiring a first feature, and position information, image information and morphological information of the first feature, wherein the image information comprises a plurality of reference images;
the data storage module is used for constructing a reference database;
the data calling module is used for calling position information, image information and form information from the reference database;
the evaluation module is used for summarizing image information according to the position information, and inputting the image information into the evaluation model to obtain a second characteristic;
the self-adaptive matching module is used for generating information to be compared according to the second characteristic, synchronously uploading the information to the data calling module, calling the position information, the image information and the form information corresponding to the information to be compared from the reference database, and synchronously generating the image information into planning information;
the optimization module is used for inputting planning information and information to be compared into the optimization model to obtain deviation features, and adjusting edge regions of the second features according to the deviation features;
the central control module is used for receiving and transmitting the circulation information among the data acquisition module, the data storage module, the data calling module, the evaluation module, the self-adaptive matching module and the optimization module.
In a preferred scheme, the data storage module comprises a first-stage acquisition unit, a processing unit and a second-stage acquisition unit, wherein the acquisition unit is used for acquiring an in-vitro sample, the in-vitro sample is provided with a plurality of in-vitro samples, the processing unit is used for cleaning the in-vitro sample and screening out interference information in the in-vitro sample, and the second-stage acquisition unit is used for counting the ablation duration and the ablation power of the in-vitro sample and summarizing all the ablation duration and the ablation power into a reference database.
In a preferred scheme, a plurality of in-vitro samples are provided, and a plurality of reference images are obtained by PET scanning of the in-vitro samples.
In a preferred scheme, when the evaluation module executes, the position information of the first feature is determined, the form information of the first feature is synchronously acquired, the positioning point of the first feature is determined according to the position information and the form information, and then the reference image corresponding to the positioning point is screened out from the image information and is calibrated as the image to be evaluated.
In a preferred scheme, after the image to be evaluated is determined, the image to be evaluated is input into an evaluation model, a reference channel is preset in the evaluation model, and the end point of the reference channel coincides with a positioning point;
the image to be evaluated comprises a plurality of channels to be evaluated, and after the image to be evaluated is input into the evaluation model, the channels to be evaluated are compared with the reference channel one by one, the needle inlet channel is screened out, and the image to be evaluated corresponding to the needle inlet channel is marked as a second feature.
In a preferred scheme, when the self-adaptive matching module executes, determining the position information and the form information corresponding to the second feature, matching the position information, the form information and the second feature corresponding to the second feature from the data storage module, and calibrating the position information, the form information and the second feature as planning information;
when the planning information is matched, determining the position information and the form information with the highest similarity with the information to be compared as the planning information;
wherein, the matching priority of the position information is higher than the matching priority of the form information.
In a preferred scheme, when the optimization module executes, planning information and information to be compared are input into an optimization model, and the optimization model is used for outputting deviation features and adjusting edge regions of second features;
the deviation feature comprises an increment feature and a reduction feature, wherein the increment feature is the information to be compared exceeding the edge of the planning information, and the reduction feature is the planning information exceeding the edge of the information to be compared.
In a preferred scheme, the optimizing module comprises an identifying unit and a dividing unit, wherein the identifying unit is used for identifying increment features and reduction features, the dividing unit is used for dividing information to be compared to obtain a plurality of areas to be ablated, positioning points are preset in each area to be ablated, and whether the increment features or the reduction features exist in each area to be ablated is judged;
if the incremental feature or the reduction feature does not exist in the region to be ablated, the positioning point does not need to be adjusted;
if the incremental feature or the reduction feature exists in the area to be ablated, the positioning point needs to be readjusted.
In a preferred scheme, the optimizing module further comprises an optimizing unit, wherein the optimizing unit is used for adjusting the ablation power and the ablation duration according to the increment characteristic and the reduction characteristic;
when the optimizing unit executes, constructing an edge contour of the area to be ablated, counting inflection point coordinates of the edge contour, calling an optimizing function from the optimizing unit, inputting the inflection point coordinates into the optimizing function to obtain a center point of the area to be ablated, and calibrating the center point as an ablation point to be evaluated;
measuring and calculating an ablation area by taking the ablation point to be evaluated as a reference point, and marking the ablation area exceeding the area to be ablated as a damage area;
an allowable damage threshold value for evaluating a damage area is preset in the optimizing unit;
if the damage area is larger than or equal to the allowable damage threshold, performing fine tuning optimization on the ablation power and the ablation duration;
if the lesion area is less than the allowable lesion threshold, a single ablation is performed.
The invention also provides a microwave ablation control terminal capable of adaptively matching the tumor morphology, which comprises:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the auxiliary planning system for pre-operative adaptive matching of tumor morphology as described above.
The invention has the technical effects that:
according to the invention, the needle insertion path in the microwave ablation process can be planned based on the medical image, so that the puncture times in the actual operation process are reduced, the damage of the patient epidermis tissue is reduced, the single ablation area and the ablation points can be pre-determined according to the tumor morphology, the damage to other normal tissues or organs in the microwave ablation process can be reduced in each process, the pain of the patient can be reduced, and the postoperative recovery period of the patient can be correspondingly shortened.
Drawings
FIG. 1 is a schematic diagram of a system implementation provided by the present invention;
fig. 2 is a schematic diagram of a system module provided by the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one preferred embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Referring to fig. 1 and 2, the invention provides an auxiliary planning system for preoperative adaptive matching of tumor morphology, which comprises a data acquisition module, a data storage module, a data calling module, an evaluation module, an adaptive matching module, an optimization module and a central control module;
the data acquisition module is used for acquiring the first feature, and position information, image information and form information of the first feature, wherein the image information comprises a plurality of reference images;
the data storage module is used for constructing a reference database;
the data calling module is used for calling the position information, the image information and the form information from the reference database;
the evaluation module is used for summarizing the image information according to the position information, inputting the image information into the evaluation model and obtaining a second characteristic;
the self-adaptive matching module is used for generating information to be compared according to the second characteristic and synchronously uploading the information to the data calling module, and the data calling module calls position information, image information and form information corresponding to the information to be compared from the reference database and synchronously generates the image information into planning information;
the optimization module is used for inputting planning information and information to be compared into the optimization model to obtain deviation features, and adjusting edge regions of the second features according to the deviation features;
the central control module is used for receiving and transmitting the circulation information among the data acquisition module, the data storage module, the data calling module, the evaluation module, the self-adaptive matching module and the optimization module.
According to the invention, along with the continuous development of informatization technology, the application of the informatization technology in the medical field is wider and wider, common technical means include medical image assistance, intraoperative path planning assistance and the like, when performing operation on organs or tissues in a human body, the informatization technology assistance tends to increase the operation success rate, simultaneously, the surgery duration can be correspondingly shortened, the postoperative pain degree of a patient can be correspondingly reduced, in the aspect of tumor ablation treatment, the intraoperative operation duration is reduced, the fatigue degree of doctors can be reduced, the puncture times can be reduced, the damage to skin tissues of the patient is reduced, based on the fact that in the embodiment, a data sampling module is used for acquiring or in-vivo tumor information, the embodiment calibrates the operation success rate into first characteristics, the position information, the image information, the morphological information and the like of tumors, and then the position information, the image information, the morphological information and the like corresponding to the first characteristics are called from a data storage module by a data calling model, the tumor information of an auxiliary medical staff, the tumor information is correspondingly reduced, in the aspect of tumor ablation treatment is carried out, the first characteristics are accurately calculated by the data calling model, the first characteristics are matched with the second characteristics, the image information is accurately calculated by the image information, the image information is calculated by the aid of the image information, the image information is compared with the second characteristics, the image information is accurately calculated by the image information, and the image information is compared with the second characteristics of the image information, the image information is accurately calculated by the image information, and the image information is compared with the first characteristics is calculated by the image information, and the image information is well has better than the image information.
In a preferred embodiment, the data storage module comprises a first-stage acquisition unit, a processing unit and a second-stage acquisition unit, wherein the acquisition unit is used for acquiring an in-vitro sample, the processing unit is used for cleaning the in-vitro sample, screening out interference information in the in-vitro sample, and the second-stage acquisition unit is used for counting the ablation duration and the ablation power of the in-vitro sample and summarizing all the ablation duration and the ablation power into a reference database.
In this embodiment, when uploading tumor information to the data storage module, the in-vitro samples are required to assist, the in-vitro samples are provided with a plurality of in-vitro samples, and the plurality of in-vitro samples are scanned by PET to obtain a plurality of reference images, so that sufficient reference images in a subsequent reference database are ensured to be used for reference, when acquiring actual tumor information, the actual tumor information is compared with the reference images in the reference database, and for the tumor images completely consistent with the reference images, the needle planning can be conveniently executed, and for the case of inconsistency, deviation features can be generated subsequently, and medical staff can be assisted in planning an intraoperative ablation path.
In a preferred embodiment, the evaluation module determines the position information of the first feature, synchronously acquires the form information of the first feature, determines the positioning point of the first feature according to the position information and the form information, screens out the reference image corresponding to the positioning point from the image information of the first feature, and marks the reference image as the image to be evaluated.
In this embodiment, after the position information and the form information of the first feature are determined, the ablation point may be determined according to the medical experience of the medical staff, that is, the positioning point of the first feature mentioned in this embodiment, since the image information includes images of multiple angles of the tumor, the reference image matched with the image information may be selected from multiple images according to the position of the positioning point to serve as the image to be evaluated, so as to screen out the influence of the reference image without the positioning point, and provide corresponding data support for the subsequent planning of the ablation path.
In a preferred embodiment, after the image to be evaluated is determined, the image to be evaluated is input into an evaluation model, a reference channel is preset in the evaluation model, and the end point of the reference channel coincides with a positioning point;
the image to be evaluated comprises a plurality of channels to be evaluated, and after the image to be evaluated is input into the evaluation model, the channels to be evaluated are compared with the reference channel one by one, the needle inlet channel is screened out, and the image to be evaluated corresponding to the needle inlet channel is marked as a second feature.
In this embodiment, after the image to be evaluated is determined, the image to be evaluated may be input into the evaluation model, so as to determine the needle insertion channel, after the positioning point is determined, the auxiliary ray is extended from the positioning point to the outside of the patient, before the positioning point is extended, the auxiliary ray intersecting with the needle insertion area needs to be determined as the channel to be evaluated, a plurality of auxiliary rays intersecting with the needle insertion area may exist, each of which corresponds to one channel to be evaluated, then the reference channel is compared with the channel to be evaluated, the channel to be evaluated which coincides with the reference channel is determined as the needle insertion channel in this embodiment, and the image to be evaluated corresponding to the reference channel is determined as the second feature.
In a preferred embodiment, when the adaptive matching module executes, determining the position information and the form information corresponding to the second feature, matching the position information, the form information and the second feature corresponding to the second feature from the data storage module, and calibrating the position information, the form information and the second feature as planning information;
when the planning information is matched, determining the position information and the form information with the highest similarity with the information to be compared as the planning information;
wherein, the matching priority of the position information is higher than the matching priority of the form information.
In this embodiment, after the second feature is determined, it is input into the adaptive matching module, and then the second feature reference image is matched to obtain the position information and form of the second featureThe information and the reference image corresponding to the second feature are matched, and when the reference image is matched, the reference image with the highest matching degree is selected, and the comparison can be specifically performed through the image similarity, wherein the calculation formula is as follows:wherein->Representing image similarity>The number of pixels representing the reference image and the second feature +.>Representing pixel coordinates in the reference image, < >>Representing pixel coordinates in the second feature, based on which +.>The closer the value of (2) is to 1, the higher the similarity between the reference image and the second feature is, so that the reference image with the highest similarity can be screened out, and then the reference image is determined as planning information.
In a preferred embodiment, when the optimization module executes, the planning information and the information to be compared are input into an optimization model, and the optimization model is used for outputting deviation features and adjusting edge regions of the second features;
the deviation features comprise increment features and reduction features, wherein the increment features are the information to be compared exceeding the edges of the planning information, and the reduction features are the planning information exceeding the edges of the information to be compared.
In this embodiment, after the planning information is determined, the planning information is input into an optimization model to perform optimization adjustment, the planning information and the information to be compared are input into the optimization model first, then the two images are compared, and an excess part and a missing part of the information to be compared relative to the planning information can be obtained.
In a preferred embodiment, the optimizing module comprises an identifying unit and a dividing unit, the identifying unit is used for identifying increment features and reduction features, the dividing unit is used for dividing the to-be-compared information to obtain a plurality of to-be-ablated areas, positioning points are preset in each to-be-ablated area, and whether the increment features or the reduction features exist in each to-be-ablated area is judged;
if the incremental feature or the reduction feature does not exist in the area to be ablated, the positioning point does not need to be adjusted;
if there are incremental features or downscaling features in the area to be ablated, the anchor points need to be readjusted.
In the embodiment, after the increment feature and the reduction feature are determined, the information to be compared is segmented according to the area of single ablation of the ablation needle, so that a plurality of areas to be ablated can be obtained, whether the increment feature or the reduction feature exists in the areas to be ablated or not is judged, the positioning points in the areas to be ablated are adjusted, normal tissues in a human body are prevented from being damaged in the ablation process, the safety of the tumor ablation process is enhanced, and the secondary damage to the human body can be correspondingly reduced.
In a preferred embodiment, the optimization module further comprises an optimization unit, wherein the optimization unit is used for adjusting the ablation power and the ablation duration according to the increment feature and the reduction feature;
when the optimizing unit executes, an edge contour of the area to be ablated is constructed, inflection point coordinates of the edge contour are counted, an optimizing function is called from the optimizing unit, the inflection point coordinates are input into the optimizing function, a center point of the area to be ablated is obtained, and the center point is marked as an ablation point to be evaluated;
measuring and calculating an ablation area by taking the ablation point to be evaluated as a reference point, and marking the ablation area exceeding the ablation area to be damaged;
an allowable damage threshold value for evaluating the damage area is preset in the optimizing unit;
if the damage area is larger than or equal to the allowable damage threshold, performing fine adjustment optimization on the ablation power and the ablation duration;
if the lesion area is less than the allowable lesion threshold, a single ablation is performed.
In this embodiment, after the area to be ablated is determined, the coordinates of inflection points on the edges are counted, and these coordinates of inflection points are input into an optimization function, where the expression of the optimization function is:wherein->Representing the coordinates of the ablation point to be evaluated, +.>Representing the area of the area to be ablated, < >>Indicating the number of inflection points>Number indicating coordinates of inflection point>Represents the abscissa of inflection point, ++>The ordinate of the inflection point is represented, based on the inflection point ordinate, the area of the to-be-ablated region is required to be measured before the to-be-evaluated ablation point is measured, and the calculation formula is as follows: />Based on this, the area of the area to be ablated can be calculated, corresponding data support is provided for determining the ablation point to be evaluated, and after the ablation point to be evaluated is determined, comparison with the allowable damage threshold can be reminiscent, so as to judge whether the tumor area is executedThe allowable damage threshold is determined by medical staff according to the physical function of the patient, so as to prevent the occurrence of excessive damage to the patient body during the tumor ablation process.
The invention also provides a microwave ablation control terminal capable of adaptively matching the tumor morphology, which comprises:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the above-described auxiliary planning system for pre-operative adaptive matching of tumor morphology.
Those skilled in the art will appreciate that the positioning terminal of the present invention may be specially designed and manufactured for the required purposes, or may comprise a known device in a general purpose computer. These devices have computer programs or applications stored therein that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., a computer) readable medium or any type of medium suitable for storing electronic instructions and respectively coupled to a bus, including, but not limited to, any type of disk (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROMs (Read-Only memories), RAMs (Random AccessMemory, random access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (6)
1. The utility model provides an auxiliary planning system with self-adaptation matching tumor morphology before art, includes data acquisition module, data storage module, data calling module, evaluation module, self-adaptation matching module, optimization module and central control module, its characterized in that:
the data acquisition module is used for acquiring a first feature, and position information, image information and morphological information of the first feature, wherein the image information comprises a plurality of reference images;
the data storage module is used for constructing a reference database, the data storage module comprises a first-stage acquisition unit, a processing unit and a second-stage acquisition unit, the acquisition unit is used for acquiring an isolated sample, the processing unit is used for cleaning the isolated sample, interference information in the isolated sample is screened out, the second-stage acquisition unit is used for counting the ablation time length and the ablation power of the isolated sample, all the ablation time length and the ablation power are summarized into the reference database, the isolated sample is provided with a plurality of the isolated samples, the isolated sample is subjected to PET scanning to obtain a plurality of reference images, the isolated sample is required to be assisted when tumor information is uploaded to the data storage module, the isolated sample is provided with a plurality of the isolated samples, and the isolated sample is subjected to PET scanning to obtain a plurality of reference images, so that the sufficient reference images in the subsequent reference database are ensured to be used for reference, and the isolated sample is compared with the reference images in the reference database when the actual tumor information is acquired;
the data calling module is used for calling position information, image information and form information from the reference database;
the evaluation module is used for summarizing image information according to the position information, and inputting the image information into the evaluation model to obtain a second characteristic;
the self-adaptive matching module is used for generating information to be compared according to the second characteristic, synchronously uploading the information to the data calling module, calling the position information, the image information and the form information corresponding to the information to be compared from the reference database, and synchronously generating the image information into planning information;
the optimization module is used for inputting planning information and information to be compared into the optimization model to obtain deviation features, and adjusting edge regions of the second features according to the deviation features;
the central control module is used for receiving and transmitting the circulation information among the data acquisition module, the data storage module, the data calling module, the evaluation module, the self-adaptive matching module and the optimization module;
when the evaluation module executes, determining the position information of the first feature, synchronously acquiring the form information of the first feature, determining the positioning point of the first feature according to the position information and the form information, screening out a reference image corresponding to the positioning point from the image information of the first feature, and calibrating the reference image as an image to be evaluated;
after the image to be evaluated is determined, inputting the image to be evaluated into an evaluation model, wherein a reference channel is preset in the evaluation model, and the end point of the reference channel coincides with a positioning point;
the image to be evaluated comprises a plurality of channels to be evaluated, and after the image to be evaluated is input into the evaluation model, the channels to be evaluated are compared with the reference channel one by one, the needle inlet channel is screened out, and the image to be evaluated corresponding to the needle inlet channel is marked as a second feature.
2. An auxiliary planning system for adaptively matching tumor morphology for preoperative use according to claim 1, wherein: when the self-adaptive matching module executes, determining the position information and the form information corresponding to the second feature, matching the position information, the form information and the second feature corresponding to the second feature from the data storage module, and calibrating the position information, the form information and the second feature as planning information;
when the planning information is matched, determining the position information and the form information with the highest similarity with the information to be compared as the planning information;
wherein, the matching priority of the position information is higher than the matching priority of the form information.
3. An auxiliary planning system for adaptively matching tumor morphology for preoperative use according to claim 2, wherein: when the optimization module executes, planning information and information to be compared are input into an optimization model, and the optimization model is used for outputting deviation features and adjusting edge regions of second features;
the deviation feature comprises an increment feature and a reduction feature, wherein the increment feature is the information to be compared exceeding the edge of the planning information, and the reduction feature is the planning information exceeding the edge of the information to be compared.
4. An auxiliary planning system for adaptively matching tumor morphology for preoperative use according to claim 1, wherein: the optimizing module comprises an identifying unit and a dividing unit, wherein the identifying unit is used for identifying increment features and reduction features, the dividing unit is used for dividing information to be compared to obtain a plurality of areas to be ablated, positioning points are preset in each area to be ablated, and whether the increment features or the reduction features exist in each area to be ablated is judged;
if the incremental feature or the reduction feature does not exist in the region to be ablated, the positioning point does not need to be adjusted;
if the incremental feature or the reduction feature exists in the area to be ablated, the positioning point needs to be readjusted.
5. An auxiliary planning system for adaptively matching tumor morphology for preoperative use as in claim 4, wherein: the optimizing module further comprises an optimizing unit, wherein the optimizing unit is used for adjusting the ablation power and the ablation duration according to the increment characteristic and the reduction characteristic;
when the optimizing unit executes, constructing an edge contour of the area to be ablated, counting inflection point coordinates of the edge contour, calling an optimizing function from the optimizing unit, inputting the inflection point coordinates into the optimizing function to obtain a center point of the area to be ablated, and calibrating the center point as an ablation point to be evaluated;
measuring and calculating an ablation area by taking the ablation point to be evaluated as a reference point, and marking the ablation area exceeding the area to be ablated as a damage area;
an allowable damage threshold value for evaluating a damage area is preset in the optimizing unit;
if the damage area is larger than or equal to the allowable damage threshold, performing fine tuning optimization on the ablation power and the ablation duration;
if the lesion area is less than the allowable lesion threshold, a single ablation is performed.
6. A microwave ablation control terminal capable of adaptively matching tumor morphology is characterized in that: comprising the following steps:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the auxiliary planning system for pre-operative adaptive matching of tumor morphology of any one of claims 1 to 5.
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