WO2021023127A1 - 布针模式切换系统、方法及肿瘤治疗仪 - Google Patents

布针模式切换系统、方法及肿瘤治疗仪 Download PDF

Info

Publication number
WO2021023127A1
WO2021023127A1 PCT/CN2020/106409 CN2020106409W WO2021023127A1 WO 2021023127 A1 WO2021023127 A1 WO 2021023127A1 CN 2020106409 W CN2020106409 W CN 2020106409W WO 2021023127 A1 WO2021023127 A1 WO 2021023127A1
Authority
WO
WIPO (PCT)
Prior art keywords
needle
mode
needle cloth
switched
instruction
Prior art date
Application number
PCT/CN2020/106409
Other languages
English (en)
French (fr)
Inventor
赖燊
Original Assignee
深圳钮迈科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳钮迈科技有限公司 filed Critical 深圳钮迈科技有限公司
Priority to EP20849484.9A priority Critical patent/EP4011310A4/en
Publication of WO2021023127A1 publication Critical patent/WO2021023127A1/zh

Links

Images

Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1477—Needle-like probes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/0016—Energy applicators arranged in a two- or three dimensional array
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00577—Ablation
    • 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
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture

Definitions

  • This application relates to the technical field of medical equipment, and in particular to a needle deployment mode switching system and method, and a tumor treatment instrument.
  • tumor treatment instruments based on electric pulse technology simulate the tumor ablation process through a simulation system, which usually requires manual operation
  • the probe is used for tumor ablation, the simulated needle placement method is single, and the operation convenience is poor.
  • an embodiment of the present invention provides a needle placement mode switching system, which includes an instruction acquisition module and a control module connected to the instruction acquisition module;
  • the instruction acquisition module receives the needle placement mode instruction, and transmits the needle placement mode instruction to the control module;
  • the control module obtains the needle cloth mode to be switched corresponding to the needle cloth mode instruction, and switches the current needle cloth mode to the needle cloth mode to be switched.
  • control module performs a priority comparison between the needle cloth mode to be switched and the current needle cloth mode, and when the priority of the needle cloth mode to be switched is greater than the priority of the current needle cloth mode, the current needle cloth mode The stitching mode is switched to the stitching mode to be switched.
  • control module executes the current needle cloth mode when the priority of the needle cloth mode to be switched is less than or equal to the priority of the current needle cloth mode.
  • the needle placement mode to be switched is the automatic needle placement mode or the manual needle placement mode.
  • control module analyzes the needle placement mode instruction, and performs corresponding mode switching according to the analysis result.
  • control module starts the automatic needle placement mode when it obtains the initialization instruction.
  • it further includes a display module
  • the display module displays the automatic needle layout interface corresponding to the automatic needle layout mode, and the manual needle layout interface corresponding to the manual needle layout mode.
  • the embodiment of the present invention also provides a method for switching needle cloth patterns, including the following steps:
  • an embodiment of the present invention also provides a tumor treatment instrument, including any one of the above-mentioned needle placement mode switching systems.
  • it further includes an input device for inputting a needle placement mode instruction.
  • the control module obtains the needle cloth mode to be switched corresponding to the needle cloth mode command according to the needle cloth mode command; and then the control module can switch the current needle cloth mode to the needle cloth mode to be switched to achieve Switch to the stitching mode.
  • This application can automatically switch the mode according to the needle cloth mode command, which diversifies the needle cloth method and improves the convenience of the product.
  • Fig. 1 is a first structural schematic diagram of a needle cloth mode switching system in an embodiment
  • FIG. 2 is a schematic diagram of a second structure of the needle cloth mode switching system in an embodiment
  • Fig. 3 is a schematic flow chart of a method for switching needle placement modes in an embodiment
  • Fig. 4 is a block diagram of a tumor treatment apparatus in an embodiment.
  • a needle placement mode switching system which includes an instruction acquisition module 110 and a control module 120 connected to the instruction acquisition module 110.
  • the instruction acquisition module 110 receives the needle cloth mode instruction and transmits the needle cloth mode instruction to the control module 120; the control module 120 obtains the needle cloth mode to be switched corresponding to the needle cloth mode command, and switches the current needle cloth mode to the cloth needle to be switched Needle pattern.
  • the instruction acquisition module 110 refers to a device module with functions such as data receiving and sending, and the instruction acquisition module 110 may be an interface used to transmit data.
  • the control module 120 refers to a processing device with functions such as data processing and data transmission; for example, the processor included in the control module 120 may be an ARM processor.
  • the needle cloth mode command can be used to instruct the control module to start the corresponding needle cloth mode; the needle cloth mode to be switched refers to the needle cloth mode corresponding to the needle cloth mode command; the current needle cloth mode refers to the current execution of the needle cloth mode switching system Pattern of cloth stitches.
  • the needle placement mode refers to a method of performing probe distribution processing on the ablation area, and the needle placement mode may be an execution program for the probe distribution processing.
  • the instruction acquisition module 110 may receive the needle placement mode instruction transmitted by the external device, and transmit the received needle placement mode instruction to the control module 120.
  • the control module 120 can receive the needle cloth mode command, and obtain the needle cloth mode to be switched corresponding to the needle cloth mode command, and then can switch the current needle cloth mode to the needle cloth mode to be switched, so that the system executes cloth needle based on the needle cloth mode to be switched Needle handling process, realize the automatic switching system's needle placement mode.
  • the user can operate an external device to make the external device generate a needle cloth pattern command, and transmit the needle cloth pattern command to the command acquisition module 110, and the command acquisition module 110 can receive the needle cloth mode command and transfer the received needle cloth mode command.
  • the mode command is transmitted to the control module 120.
  • the control module 120 can process the received needle cloth mode command and obtain the needle cloth mode to be switched corresponding to the corresponding needle cloth mode command; the control module 10 can also query the needle cloth mode currently executed by the system to obtain the current needle cloth mode.
  • the current needle cloth mode is different from the needle cloth mode to be switched, after the current needle cloth mode is switched to the needle cloth mode to be switched, the system executes the needle cloth mode to be switched; if the current needle cloth mode is the same as the needle cloth mode to be switched , The system can continue to execute the current needle layout mode, the system can also switch the current needle layout mode to the pending needle layout mode, the system executes to continue to execute the current needle layout mode.
  • the needle cloth mode command is received through the instruction acquisition module; the control module obtains the needle cloth mode to be switched corresponding to the needle cloth mode command according to the needle cloth mode command; and the control module can change the current needle cloth mode Switch to the needle cloth mode to be switched to realize the switch of the needle cloth mode; by automatically switching the mode according to the needle cloth mode instruction, the needle cloth method is diversified and the convenience of the product is improved.
  • control module performs a priority comparison between the needle cloth mode to be switched and the current needle cloth mode, and when the priority of the needle cloth mode to be switched is greater than the priority of the current needle cloth mode, the current needle cloth mode The stitch mode is switched to the stitch pattern to be switched.
  • a priority can be set for the needle layout mode in advance, wherein the needle layout mode with a higher priority can be processed first.
  • the control module After the control module obtains the needle cloth mode to be switched and the current needle cloth mode, it can query the priority of the needle cloth mode to be switched and the priority of the current needle cloth mode, and perform switching between the needle cloth mode and the current needle cloth mode. Priority comparison. When the priority of the needle cloth mode to be switched is greater than the priority of the current needle cloth mode, the control module switches the current needle cloth mode to the needle cloth mode to be switched.
  • the control module keeps the system to execute the current needle layout mode when the priority of the needle layout mode to be switched is lower than the priority of the current needle layout mode.
  • the control module does not perform the switching action, so that the system maintains the current needle cloth mode; it can also switch the current needle cloth mode to the cloth needle to be switched Needle mode, while the system still maintains the current needle layout mode.
  • the needle cloth mode switching action is executed when the priority conditions are met, which improves the flexibility of needle cloth mode switching and improves The convenience of the product.
  • the stitching mode to be switched is an automatic stitching mode or a manual stitching mode.
  • the automatic needle placement mode refers to the automatic needle placement process of the system can be realized by executing the corresponding program
  • the manual needle placement process refers to the operation process of the system that requires the user to manually adjust the probe during the needle placement process (such as , Used to manually adjust the position of the probe, the voltage of the probe and the selection and preservation of the ablation area, etc.).
  • the working process of the system to execute the automatic needle cloth mode is: according to the operating parameters input by the user , By querying the database, you can get the corresponding simulated tumor graph and the graph type corresponding to the simulated tumor graph; based on the graph type, query and obtain the number of probes and probe positions corresponding to the graph type in the database, and different graph types correspond to different probes The number and probe positions can then be determined according to the type of tumor; the number of analog probe groups is selected by the number of probes, and each analog probe group is arranged in the simulated tumor according to the probe position.
  • the corresponding position of the graph is modeled according to the corresponding application scenario, the probe group is equivalent to a two-dimensional plane point, the ablation area is equivalent to the plane of the corresponding area, and the voltage is applied between the probes to obtain the Laplace
  • the equation and its boundary conditions are solved to obtain the electric field intensity distribution formula, and then the corresponding contour figure algorithm is used to draw the contour figure of the electric field intensity.
  • the contour figure is the ablation area, and then according to the ablation area
  • the contour graphics of the tumor are subjected to simulated ablation processing to realize the automatic needle placement process.
  • the working process of the system in manual needle cloth mode is: the operating parameters that the user can input to make the system generate And display the corresponding simulated tumor graphics and ablationable area; the user can observe the simulated tumor graphics and ablative area, manually add or delete probes, and move the added probes to make the ablation formed by the combination of each probe
  • the area meets the ablation conditions, and then the tumor contour graphics can be simulated ablation processing according to the ablation area to realize the manual needle placement process.
  • the working process of the system in the manual needle placement mode can also be: if the simulated tumor pattern is large and only two probes are used, the user can save the ablation area, then move the probe to form a new ablation area, and then save Move again and repeat the operation in this way to obtain an ablation area that satisfies the ablation conditions.
  • the ablation area is used to simulate ablation of the tumor contour to realize the manual needle placement process.
  • control module parses the needle placement mode instruction, and performs corresponding mode switching according to the analysis result.
  • the needle cloth mode command may be an automatic needle cloth mode command corresponding to the automatic needle cloth mode, or a manual needle cloth mode command corresponding to the manual needle cloth mode.
  • the control module After the control module receives the needle placement mode instruction, it can analyze the received needle placement mode instruction to obtain the analysis result. According to the analysis processing result, the control module can obtain the automatic needle layout mode corresponding to the automatic needle layout mode command when the needle layout mode command is the automatic needle layout mode command, and switch the current needle layout mode to the automatic needle layout mode; As a result of processing, when the needle cloth mode command is the manual needle cloth mode command, the manual needle cloth mode corresponding to the manual needle cloth mode command is obtained, and the current needle cloth mode is switched to the manual needle cloth mode. Furthermore, it realizes automatic needle cloth mode switching, diversifying needle cloth methods.
  • control module activates the automatic needle placement mode when it obtains the initialization instruction.
  • the initialization command can be used to instruct the system to initialize the needle layout.
  • the initialization command can be obtained by the user operating an external device.
  • the instruction acquisition module can receive the initialization instruction obtained by the user operation, and transmit the initialization instruction to the control module; when the control module obtains the initialization instruction, it can start the automatic needle placement mode, so that the system automatically executes when it enters the needle placement interface Automatic needle placement mode, and then realize the automatic needle placement process.
  • a needle placement mode switching system which includes an instruction acquisition module 210 and a control module 220 connected to the instruction acquisition module 210; and also includes a display module 230.
  • the display module 230 displays the automatic needle layout interface corresponding to the automatic needle layout mode, and the manual needle layout interface corresponding to the manual needle layout mode.
  • the display module 230 may be a display, for example, the display module 230 may be a liquid crystal display or an LED display.
  • the control module 220 can transmit the processed data (such as the relevant data corresponding to the automatic needle placement mode and the relevant data corresponding to the manual needle placement mode) to the display module 230, and then through the display
  • the module 230 can display the automatic needle layout interface corresponding to the automatic needle layout mode and the manual needle layout interface corresponding to the manual needle layout mode, which improves the convenience of the system.
  • a method for switching needle placement modes includes the following steps:
  • Step S310 receiving a needle placement mode command.
  • Step S320 Obtain the needle cloth mode to be switched corresponding to the needle cloth mode instruction, and switch the current needle cloth mode to the needle cloth mode to be switched.
  • the needle cloth mode command is received through the command acquisition module; the control module obtains the needle cloth mode to be switched corresponding to the needle cloth mode command according to the needle cloth mode command; and the control module can switch the current needle cloth mode to the cloth needle to be switched Needle mode, realize the switch of the needle cloth mode; by automatically switching the mode according to the needle cloth mode command, the needle cloth method is diversified and the convenience of the product is improved.
  • steps in the flowchart of FIG. 3 are displayed in sequence as indicated by the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless specifically stated in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least part of the steps in FIG. 3 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution of these sub-steps or stages The sequence is not necessarily performed sequentially, but may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.
  • a tumor treatment apparatus which includes the needle placement mode switching system 410 of any one of the above.
  • the tumor treatment device may be a tumor treatment device with high-voltage electric pulses.
  • the tumor treatment apparatus may include a needle placement mode switching system 410.
  • the needle placement mode switching system 410 After the needle placement mode switching system 410 starts working, it may receive the needle placement mode instruction through the instruction acquisition module included in the needle placement mode switching system 410;
  • the control module included in 410 obtains the needle cloth mode to be switched corresponding to the needle cloth mode instruction, and the control module can switch the current needle cloth mode to the needle cloth mode to be switched to realize the switch of the needle cloth mode.
  • the tumor therapy instrument can execute the switched needle placement mode to realize the needle placement process.
  • an input device 420 for inputting a needle placement mode command is further included.
  • the input device 420 can be, but is not limited to, a button and a touch screen.
  • the user can operate the input device 420 so that the input device 420 can transmit the needle cloth mode command to the needle cloth mode switching system 410, and the needle cloth mode switching system 410 can pass the instructions
  • the acquisition module receives the needle cloth mode command; obtains the needle cloth mode to be switched corresponding to the needle cloth mode command through the control module, and then the control module can switch the current needle cloth mode to the needle cloth mode to be switched to realize the switch of the needle cloth mode, Improve the convenience of the product.
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Business, Economics & Management (AREA)
  • Epidemiology (AREA)
  • Business, Economics & Management (AREA)
  • Primary Health Care (AREA)
  • Otolaryngology (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Electrotherapy Devices (AREA)
  • Surgical Instruments (AREA)
  • Sewing Machines And Sewing (AREA)

Abstract

本申请涉及一种布针模式切换系统、方法及肿瘤治疗仪，其中，布针模式切换系统包括指令获取模块以及连接指令获取模块的控制模块；指令获取模块接收布针模式指令，并将布针模式指令传输给控制模块；控制模块获取对应布针模式指令的待切换布针模式，并将当前的布针模式切换为待切换布针模式，实现对布针模式的切换。本申请能够根据布针模式指令，自动进行模式切换，多样化了布针方式，提高了产品的便捷性。

Description

布针模式切换系统、方法及肿瘤治疗仪 技术领域
本申请涉及医疗设备技术领域，特别是涉及一种布针模式切换系统、方法及肿瘤治疗仪。
背景技术
随着科学技术的发展，肿瘤治疗仪的应用得到了广泛的关注，肿瘤治疗仪的种类众多，而以电脉冲技术为基础的肿瘤治疗仪，通过模拟系统模拟肿瘤消融过程中，通常需要人工操作探针进行肿瘤消融，模拟布针方式单一，操作便捷性差。
在实现过程中，发明人发现传统技术中至少存在如下问题：传统的模拟系统通过人工操作探针进行模拟肿瘤消融，布针方式单一。
发明内容
基于此，有必要针对传统的模拟系统通过人工操作探针进行肿瘤消融，布针方式单一的问题，提供一种布针模式切换系统、方法及肿瘤治疗仪。
为了实现上述目的，本发明实施例提供了一种布针模式切换系统，包括指令获取模块以及连接指令获取模块的控制模块；
指令获取模块接收布针模式指令，并将布针模式指令传输给控制模块；
控制模块获取对应布针模式指令的待切换布针模式，并将当前的布针模式切换为待切换布针模式。
在其中一个实施例中，控制模块对待切换布针模式与当前的布针模式进行 优先级比对，并在待切换布针模式的优先级大于当前的布针模式的优先级时，将当前的布针模式切换为待切换布针模式。
在其中一个实施例中，控制模块在待切换布针模式的优先级小于或等于当前的布针模式的优先级时，执行当前的布针模式。
在其中一个实施例中，待切换布针模式为自动布针模式或手动布针模式。
在其中一个实施例中，控制模块对布针模式指令进行解析，并根据解析结果，进行相应的模式切换。
在其中一个实施例中，控制模块在获取到初始化指令时，启动自动布针模式。
在其中一个实施例中，还包括显示模块；
显示模块显示自动布针模式相应的自动布针界面，以及显示手动布针模式相应的手动布针界面。
另一方面，本发明实施例还提供了一种布针模式切换方法，包括以下步骤：
接收布针模式指令；
获取对应布针模式指令的待切换布针模式，并将当前的布针模式切换为待切换布针模式。
另一方面，本发明实施例还提供了一种肿瘤治疗仪，包括上述任意一项的布针模式切换系统。
在其中一个实施例中，还包括用于输入布针模式指令的输入设备。
上述技术方案中的一个技术方案具有如下优点和有益效果：
通过指令获取模块接收布针模式指令；控制模块根据布针模式指令，获取对应布针模式指令的待切换布针模式；进而控制模块可将当前的布针模式切换为待切换布针模式，实现对布针模式的切换。本申请能够根据布针模式指令， 自动进行模式切换，多样化了布针方式，提高了产品的便捷性。
附图说明
图1为一个实施例中布针模式切换系统的第一结构示意图；
图2为一个实施例中布针模式切换系统的第二结构示意图；
图3为一个实施例中布针模式切换方法的流程示意图；
图4为一个实施例中肿瘤治疗仪的方框示意图。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的首选实施例。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本申请的公开内容更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
在一个实施例中，如图1所示，提供了一种布针模式切换系统，包括指令获取模块110以及连接指令获取模块110的控制模块120。
指令获取模块110接收布针模式指令，并将布针模式指令传输给控制模块120；控制模块120获取对应布针模式指令的待切换布针模式，并将当前的布针模式切换为待切换布针模式。
其中，指令获取模块110指的是具有数据接收和发送等功能的器件模块， 指令获取模块110可以是用来传输数据的接口。控制模块120指的是具有数据处理和数据传输等功能的处理设备；例如，控制模块120包含的处理器可以是ARM处理器。布针模式指令可用来指示控制模块启动相应的布针模式；待切换布针模式指的是对应布针模式指令的的布针模式；当前的布针模式指的是布针模式切换系统当前执行的布针模式。需要说明的是，布针模式指的是对消融区域进行探针分布处理的方式，布针模式可以是用于探针分布处理的执行程序。
具体地，基于控制模块120连接指令获取模块110，指令获取模块110可接收外部设备传输的布针模式指令，并将接收到的布针模式指令传输给控制模块120。控制模块120可接收布针模式指令，并获取对应布针模式指令的待切换布针模式，进而可将当前的布针模式切换为待切换布针模式，使得系统基于待切换布针模式执行布针处理过程，实现自动切换系统的布针模式。
进一步的，用户可操作外部设备，使得外部设备生成布针模式指令，并将布针模式指令传输给指令获取模块110，进而指令获取模块110可接收布针模式指令，并将接收到的布针模式指令传输给控制模块120。控制模块120可对接收到布针模式指令进行处理，获取对应布针模式指令对应的待切换布针模式；控制模块10还可查询系统当前执行的布针模式，得到当前的布针模式，若当前的布针模式与待切换布针模式不同，则将当前的布针模式切换为待切换布针模式后，系统执行待切换布针模式；若当前的布针模式与待切换布针模式相同，系统可继续执行当前的布针模式，系统也可将当前的布针模式切换为待切换布针模式后，系统执行继续执行当前的布针模式。
上述的布针模式切换系统中，通过指令获取模块接收布针模式指令；控制模块根据布针模式指令，获取对应布针模式指令的待切换布针模式；进而控制模块可将当前的布针模式切换为待切换布针模式，实现对布针模式的切换；通 过根据布针模式指令，自动进行模式切换，多样化了布针方式，提高了产品的便捷性。
在一个实施例中，控制模块对待切换布针模式与当前的布针模式进行优先级比对，并在待切换布针模式的优先级大于当前的布针模式的优先级时，将当前的布针模式切换为待切换布针模式。
具体而言，可预先对布针模式设置优先级，其中，优先级高的布针模式可优先处理。控制模块获取到待切换布针模式和当前的布针模式后，可查询待切换布针模式的优先级和当前的布针模式的优先级，并对待切换布针模式和当前的布针模式进行优先级比对。控制模块在待切换布针模式的优先级大于当前的布针模式的优先级时，将当前的布针模式切换为待切换布针模式。
在一个具体的示例中，控制模块在待切换布针模式的优先级小于当前的布针模式的优先级时，将系统保持执行当前的布针模式。控制模块在待切换布针模式的优先级等于当前的布针模式的优先级时，不执行切换动作，使得系统保持执行当前的布针模式；还可将当前的布针模式切换为待切换布针模式，而系统仍然保持执行当前的布针模式。
上述的布针模式切换系统中，通过对设置优先级的布针模式进行优先级比对，在满足优先级条件下，执行布针模式切换动作，提高了布针模式切换的灵活性，提高了产品的便捷性。
在一个实施例中，待切换布针模式为自动布针模式或手动布针模式。
其中，自动布针模式指的是可通过执行相应的程序实现系统的自动布针处理过程；手动布针过程指的是系统在布针处理过程中，需要用户手动调整探针的操作过程(例如，用于手动调整探针的位置、探针的电压和消融区域的选取及保存等)。
具体而言，待切换布针模式为自动布针模式时，且控制模块将当前的布针模式切换为自动布针模式后，系统执行自动布针模式的工作过程为：根据用户输入的运行参数，通过查询数据库可得到相应的模拟肿瘤图形以及对应模拟肿瘤图形的图形类型；基于图形类型，查询并获取数据库中对应图形类型的探针数量和探针位置，不同的图形类型对应不同的探针数量和探针位置，进而可根据肿瘤类型确定探针数量和探针位置；通过选取数量为探针数量的模拟探针组，并对各模拟探针组依据探针位置，依次布置在模拟肿瘤图形的相应位置，根据相应的应用场景建模，将探针组等效成二维平面的点，将可消融区域等效相应面积的平面，探针之间通上电压，得到拉普拉斯方程及其边界条件，对其求解得到电场强度的分布公式，然后通过相应的等值线图形算法绘制出电场强度的等值线图形，该等值线图形即为消融区域，进而根据消融区域对肿瘤轮廓图形进行模拟消融处理，实现自动布针过程。
待切换布针模式为手动布针模式时，且控制模块将当前的布针模式切换为手动布针模式后，系统执行手动布针模式的工作过程为：用户可输入的运行参数，使得系统生成并显示相应的模拟肿瘤图形和可消融区域；用户可通过观察模拟肿瘤图形和可消融区域，通过手动添加或删除探针，并对添加的探针进行移动操作，使得各个探针组合形成的消融区域满足消融条件，进而可根据消融区域对肿瘤轮廓图形进行模拟消融处理，实现手动布针过程。
进一步的，系统执行手动布针模式的工作过程还可以是：如果模拟肿瘤图形较大，且只使用两根探针，则用户可以保存消融区域，然后移动探针形成新的消融区域，再保存再移动，如此反复操作，进而可得到满足消融条件的消融区域，通过消融区域对肿瘤轮廓图形进行模拟消融处理实现手动布针过程。
在一个实施例中，控制模块对布针模式指令进行解析，并根据解析结果， 进行相应的模式切换。
具体而言，布针模式指令可以是对应自动布针模式的自动布针模式指令，也可以是对应手动布针模式的手动布针模式指令。控制模块接收到布针模式指令后，可对接收到的布针模式指令进行解析，得到解析结果。控制模块可根据解析处理结果，在布针模式指令为自动布针模式指令时，获取对应自动布针模式指令的自动布针模式，并将当前的布针模式切换为自动布针模式；根据解析处理结果，在布针模式指令为手动布针模式指令时，获取对应手动布针模式指令的手动布针模式，并将当前的布针模式切换为手动布针模式。进而实现自动的布针模式切换，多样化了布针方式。
在一个实施例中，控制模块在获取到初始化指令时，启动自动布针模式。
其中，初始化指令可用来指示系统进行布针初始化处理。初始化指令可以是用户操作外部设备得到。
具体地，指令获取模块可接收用户操作得到的初始化指令，并将初始化指令传输给控制模块；控制模块在获取到初始化指令时，可启动自动布针模式，使得系统进入布针界面时，自动执行自动布针模式，进而实现自动布针过程。
在一个实施例中，如图2所示，提供了一种布针模式切换系统，包括指令获取模块210以及连接指令获取模块210的控制模块220；还包括显示模块230。
显示模块230显示自动布针模式相应的自动布针界面，以及显示手动布针模式相应的手动布针界面。
其中，显示模块230可以是显示器，例如，显示模块230可以是液晶显示器或LED显示器。
具体地，基于显示模块230连接控制模块220，控制模块220可将处理得到的数据(如对应自动布针模式的相关数据和对应手动布针模式的相关数据)传 输给显示模块230，进而通过显示模块230能够显示自动布针模式相应的自动布针界面，以及显示手动布针模式相应的手动布针界面，提高了系统的便捷性。
在一个实施例中，如图3所示，提供了一种布针模式切换方法，包括以下步骤：
步骤S310，接收布针模式指令。
步骤S320，获取对应布针模式指令的待切换布针模式，并将当前的布针模式切换为待切换布针模式。
具体而言，通过指令获取模块接收布针模式指令；控制模块根据布针模式指令，获取对应布针模式指令的待切换布针模式；进而控制模块可将当前的布针模式切换为待切换布针模式，实现对布针模式的切换；通过根据布针模式指令，自动进行模式切换，多样化了布针方式，提高了产品的便捷性。
应该理解的是，虽然图3的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图3中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图4所示，提供了一种肿瘤治疗仪，包括上述任意一项的布针模式切换系统410。
其中，肿瘤治疗仪可以是高压电脉冲的肿瘤治疗仪。
具体地，肿瘤治疗仪可包括布针模式切换系统410，布针模式切换系统410启动工作后，可通过布针模式切换系统410包含的指令获取模块接收布针模式 指令；通过布针模式切换系统410包含的控制模块获取对应布针模式指令的待切换布针模式，进而控制模块可将当前的布针模式切换为待切换布针模式，实现对布针模式的切换。进而肿瘤治疗仪可执行切换后的布针模式，实现布针过程。
在一个具体的实施例中，如图4所示，还包括用于输入布针模式指令的输入设备420。
其中，输入设备420可以但不限于是按键和触摸屏。
具体地，基于输入设备420连接布针模式切换系统410，用户可操作输入设备420，使得输入设备420可向布针模式切换系统410传输布针模式指令，进而布针模式切换系统410可通过指令获取模块接收布针模式指令；通过控制模块获取对应布针模式指令的待切换布针模式，进而控制模块可将当前的布针模式切换为待切换布针模式，实现对布针模式的切换，提高了产品的便捷性。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各除法运算方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus) 直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种布针模式切换系统，其特征在于，包括指令获取模块以及连接所述指令获取模块的控制模块；
    指令获取模块接收布针模式指令，并将所述布针模式指令传输给所述控制模块；
    控制模块获取对应所述布针模式指令的待切换布针模式，并将当前的布针模式切换为所述待切换布针模式。
  2. 根据权利要求1所述的布针模式切换系统，其特征在于，
    所述控制模块对所述待切换布针模式与所述当前的布针模式进行优先级比对，并在所述待切换布针模式的优先级大于所述当前的布针模式的优先级时，将所述当前的布针模式切换为所述待切换布针模式。
  3. 根据权利要求2所述的布针模式切换系统，其特征在于，
    所述控制模块在所述待切换布针模式的优先级小于或等于所述当前的布针模式的优先级时，执行所述当前的布针模式。
  4. 根据权利要求1至3所述的布针模式切换系统，其特征在于，
    所述待切换布针模式为自动布针模式或手动布针模式。
  5. 根据权利要求4所述的布针模式切换系统，其特征在于，
    所述控制模块对所述布针模式指令进行解析，并根据所述解析结果，进行相应的模式切换。
  6. 根据权利要求4所述的布针模式切换系统，其特征在于，
    所述控制模块在获取到初始化指令时，启动所述自动布针模式。
  7. 根据权利要求4所述的布针模式切换系统，其特征在于，还包括显示模 块；
    所述显示模块显示所述自动布针模式相应的自动布针界面，以及显示所述手动布针模式相应的手动布针界面。
  8. 一种布针模式切换方法，其特征在于，包括以下步骤：
    接收布针模式指令；
    获取对应所述布针模式指令的待切换布针模式，并将当前的布针模式切换为所述待切换布针模式。
  9. 一种肿瘤治疗仪，其特征在于，包括权利要求1至7任意一项所述的布针模式切换系统。
  10. 根据权利要求9所述的肿瘤治疗仪，其特征在于，还包括用于输入布针模式指令的输入设备；
    所述输入设备连接所述布针模式切换系统。
PCT/CN2020/106409 2019-08-06 2020-07-31 布针模式切换系统、方法及肿瘤治疗仪 WO2021023127A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20849484.9A EP4011310A4 (en) 2019-08-06 2020-07-31 SYSTEM AND METHOD FOR PROBE APPLICATION MODE SWITCHING, AND TUMOR THERAPY INSTRUMENT

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910720763.6A CN112336454B (zh) 2019-08-06 2019-08-06 布针模式切换系统、方法及肿瘤治疗仪
CN201910720763.6 2019-08-06

Publications (1)

Publication Number Publication Date
WO2021023127A1 true WO2021023127A1 (zh) 2021-02-11

Family

ID=74366357

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/106409 WO2021023127A1 (zh) 2019-08-06 2020-07-31 布针模式切换系统、方法及肿瘤治疗仪

Country Status (3)

Country Link
EP (1) EP4011310A4 (zh)
CN (1) CN112336454B (zh)
WO (1) WO2021023127A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113679416A (zh) * 2021-07-14 2021-11-23 聚融医疗科技(杭州)有限公司 手自一体集成式乳腺超声设备的扫查模式控制系统及方法
CN114209431A (zh) * 2021-12-24 2022-03-22 杭州柳叶刀机器人有限公司 光学探针识别方法、装置、电子设备及存储介质

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117898817B (zh) * 2024-02-20 2024-07-09 邦士医疗科技股份有限公司 一种陡脉冲消融探针自动布针检测系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102421386A (zh) * 2009-03-31 2012-04-18 安吉戴尼克公司 用于估计医疗装置的治疗区和互动式地计划患者治疗的系统和方法
US20120095459A1 (en) * 2010-10-13 2012-04-19 Peter Callas System and Method for Electrically Ablating Tissue of a Patient
CN107184361A (zh) * 2017-04-25 2017-09-22 浙江洼赛智能科技有限公司 基于ARM和Linux操作系统的手部康复外骨骼人机交互系统
CN207024046U (zh) * 2016-12-20 2018-02-23 衢州学院 一种双模智能医用手环系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6537272B2 (en) * 1998-07-07 2003-03-25 Medtronic, Inc. Apparatus and method for creating, maintaining, and controlling a virtual electrode used for the ablation of tissue
US8398541B2 (en) * 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
US8597287B2 (en) * 2009-03-17 2013-12-03 Stryker Corporation Method and system for varying output intensity of energy applied to an electrosurgical probe
US10828105B2 (en) * 2014-03-22 2020-11-10 Endocare, Inc. System and methods for ablation treatment planning and intraoperative position updates of ablation devices
CN107510503A (zh) * 2016-06-16 2017-12-26 平安微创（北京）医药科技有限公司 一种微波消融模拟系统
JP6959428B2 (ja) * 2017-07-07 2021-11-02 キヤノン ユーエスエイ, インコーポレイテッドCanon U.S.A., Inc 複数プローブアブレーションのプランニング

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102421386A (zh) * 2009-03-31 2012-04-18 安吉戴尼克公司 用于估计医疗装置的治疗区和互动式地计划患者治疗的系统和方法
US20120095459A1 (en) * 2010-10-13 2012-04-19 Peter Callas System and Method for Electrically Ablating Tissue of a Patient
CN207024046U (zh) * 2016-12-20 2018-02-23 衢州学院 一种双模智能医用手环系统
CN107184361A (zh) * 2017-04-25 2017-09-22 浙江洼赛智能科技有限公司 基于ARM和Linux操作系统的手部康复外骨骼人机交互系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4011310A4 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113679416A (zh) * 2021-07-14 2021-11-23 聚融医疗科技(杭州)有限公司 手自一体集成式乳腺超声设备的扫查模式控制系统及方法
CN113679416B (zh) * 2021-07-14 2023-07-04 聚融医疗科技(杭州)有限公司 手自一体集成式乳腺超声设备的扫查模式控制系统及方法
CN114209431A (zh) * 2021-12-24 2022-03-22 杭州柳叶刀机器人有限公司 光学探针识别方法、装置、电子设备及存储介质
CN114209431B (zh) * 2021-12-24 2023-11-21 杭州柳叶刀机器人有限公司 光学探针识别方法、装置、电子设备及存储介质

Also Published As

Publication number Publication date
EP4011310A1 (en) 2022-06-15
CN112336454B (zh) 2022-05-24
EP4011310A4 (en) 2022-09-21
CN112336454A (zh) 2021-02-09

Similar Documents

Publication Publication Date Title
WO2021023127A1 (zh) 布针模式切换系统、方法及肿瘤治疗仪
US11315438B1 (en) Surgical training systems and methods
Kunde et al. The locus of tool-transformation costs.
JP2014144524A (ja) ロボットプログラムによりシミュレーションを行うシミュレーション装置
CN107025629A (zh) 一种图像处理方法及移动终端
DE102012218297A1 (de) Verfahren zur dynamischen Optimierung einer Robotersteuerschnittstelle
CN109223183A (zh) 手术机器人的启动方法、可读取存储器及手术机器人
EP3537982B1 (en) Controlled treatment of tissue and dynamic interaction with tissue and/or treatment data and comparison of tissue and/or treatment data
CN111374761A (zh) 肿瘤治疗仪的模拟消融系统及方法
US20230276887A1 (en) System and method for modelling a cloth article
CN104605926A (zh) 一种超声介入消融系统及其工作方法
US7240258B1 (en) Parallel test system and method
CN106716330A (zh) 多屏显示位置交换方法、信息处理装置以及信息处理装置的控制方法和控制程序
JP6069997B2 (ja) 電子機器、プログラム及び表示制御方法
CN106874813A (zh) 一种自动选择m1卡的方法及智能卡
Patel et al. Direct and indirect communication in multi-human multi-robot interaction
CN112336455B (zh) 肿瘤治疗仪的模拟布针系统及方法
Zapardiel et al. The efficacy of robotic driven handheld instruments for the acquisition of basic laparoscopic suturing skills
CN111161429B (zh) 模型图像显示方法、装置、计算机设备和存储介质
US20040001096A1 (en) Data analysis apparatus
Pérez et al. Force feedback algorithms for master slave surgical systems
Miura et al. Brain wave measurement while touching task of a virtual arm for intuitive robotic surgery
Wang et al. An Auto-tuned Motion Scaling Method Based on Visual Recognition
de Souza Alcantara et al. A multi-touch approach to control MRI scans: A user-centered study report
KR102038398B1 (ko) 수술 시뮬레이션 시스템 및 장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20849484

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2020849484

Country of ref document: EP

Effective date: 20220307