WO2024041285A1 - 一种对象消融系统、控制方法、装置、介质及电子设备 - Google Patents

一种对象消融系统、控制方法、装置、介质及电子设备 Download PDF

Info

Publication number
WO2024041285A1
WO2024041285A1 PCT/CN2023/109091 CN2023109091W WO2024041285A1 WO 2024041285 A1 WO2024041285 A1 WO 2024041285A1 CN 2023109091 W CN2023109091 W CN 2023109091W WO 2024041285 A1 WO2024041285 A1 WO 2024041285A1
Authority
WO
WIPO (PCT)
Prior art keywords
ablation
intervention
model
tube
target
Prior art date
Application number
PCT/CN2023/109091
Other languages
English (en)
French (fr)
Inventor
许书菡
陶霖
杨勇
叶萍
Original Assignee
融和医疗科技(浙江)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
Priority claimed from CN202222270126.3U external-priority patent/CN219332879U/zh
Priority claimed from CN202211037397.2A external-priority patent/CN116115270A/zh
Priority claimed from CN202223067057.2U external-priority patent/CN219331890U/zh
Priority claimed from CN202211614498.1A external-priority patent/CN116115320A/zh
Priority claimed from CN202211713102.9A external-priority patent/CN116230225A/zh
Priority claimed from CN202211716334.XA external-priority patent/CN116115329A/zh
Priority claimed from CN202211716240.2A external-priority patent/CN116115328A/zh
Application filed by 融和医疗科技(浙江)有限公司 filed Critical 融和医疗科技(浙江)有限公司
Publication of WO2024041285A1 publication Critical patent/WO2024041285A1/zh

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • 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
    • 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
    • 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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • 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
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/30—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for calculating health indices; for individual health risk assessment

Definitions

  • the invention relates to the technical field of medical devices, and in particular to an object ablation system, a control method, a device, a medium and an electronic device.
  • Radiofrequency ablation mainly use thermal ablation technologies such as radiofrequency ablation, microwave ablation, cryoablation and focused ultrasound ablation.
  • the fundamental principle of radiofrequency ablation is hyperthermia. It uses a high-frequency electromagnetic wave, which is composed of alternating electric fields and magnetic fields. The energy generated by radiofrequency waves of 375kHz to 500kHz forms a closed loop in the human body from the transmitter to the treatment electrode needle through the negative plate. .
  • the ions around the electrode needle are excited by the alternating current and collide and rub to form heat. When the heat exceeds the tolerance of the tumor tissue, the tumor cells will undergo coagulative necrosis. The small blood vessels around the tumor will be occluded due to thermal damage, thus blocking the Cut off the blood supply to the tumor.
  • the tumor tissue instantly produced a large area of coagulation necrosis, resulting in the complete blurring of the lesion boundary under real-time ultrasound. Therefore, when judging whether ablation is complete, it is difficult to define the distance between the ablation range and the edge of the lesion, and it may cause complications such as skin ecchymosis, skin burns, muscle burns, secondary fat necrosis, and wound infection.
  • FMPA focused microwave phased array thermal therapy
  • PMC percutaneous microwave thermal coagulation
  • Laser ablation mainly inserts a cutting-edge laser fiber into the tumor.
  • the thermal effect is generated between the laser photons and the tissue, which increases the tissue temperature and creates a thermal ablation area.
  • it may cause permanent damage to the surrounding blood vessels and nerve tissue, and may also cause incomplete ablation. or excessive ablation.
  • High-intensity focused ultrasound ablation is a non-invasive ablation technology that does not require minimally invasive placement of catheters or probes at the tumor site.
  • HIFU reaches a very high sound intensity at the focus, so that the sound energy is quickly absorbed by the tumor tissue and converted into heat energy, and the local temperature instantly rises to Above 65°C, the protein in the target area will be denatured and the cells will be coagulated and necrotic, while the normal tissue passed by the ultrasound beam and the tissue surrounding the target area will not be damaged or the damage will be very small.
  • the target tissue is required to maintain a static state and reduce movement as much as possible. Otherwise, the treatment may be off-target and complete ablation cannot be achieved.
  • ablation of an expanded range of tumor edges can achieve radical treatment, the ablation range increases. It also increases the risk of internal tissue damage.
  • Cryoablation places a cryoprobe in the center of the tumor to rapidly drop the temperature of the tumor cells below the freezing point.
  • the tumor cell membrane is ruptured, the organelles are damaged, and eventually the tumor cells die.
  • cells that are not killed by direct cryoinjury may also undergo secondary apoptosis.
  • cryoablation may also induce local microvascular destruction and cause blood flow stasis.
  • the above ablation principle is mainly to achieve the purpose of tissue cell necrosis through changes in the temperature around the tissue.
  • thermal ablation technology can easily cause damage to healthy tissues such as nerves, lymph, and blood vessels in the ablation area.
  • some manufacturers use radiofrequency ablation technology to ablate lung diseases, such as chronic bronchitis, by ablating the smooth muscle around the tracheal cartilage to dilate the trachea and increase ventilation.
  • this method is also a thermal ablation technology, which uses high temperature to cause cells to expand.
  • the protein deteriorates, resulting in tissue necrosis, and it is difficult to control the ablation range, which can easily lead to damage to healthy tissues such as blood vessels and nerves.
  • the trachea is mainly supported by cartilage and smooth muscle. Therefore, if the smooth muscle is excessively ablated, this method may easily cause the cartilage to be unable to support it, causing the trachea to collapse, causing more serious consequences.
  • Pulsed electric field ablation technology As a non-thermal ablation technology, pulsed electric field ablation technology, which uses irreversible electroporation theory for treatment, has increasingly attracted attention in clinical applications. Pulsed electric field ablation technology generates a high-voltage pulsed electric field with a pulse width of milliseconds, microseconds or even nanoseconds to release extremely high energy in a short period of time, which can cause cell membranes and even intracellular organelles such as endoplasmic reticulum, Mitochondria, cell nuclei, etc. will produce a large number of irreversible micropores. This in turn causes the apoptosis of diseased cells, thereby achieving the desired therapeutic purpose.
  • pulsed electric field ablation technology can selectively treat inflammatory cells in the lungs without affecting other non-target cells and tissues. At the same time, it also has the characteristics of thorough full-thickness ablation, precision, speed, and Features of protecting blood vessels, nerves, and cartilage. At the same time, since the pulsed electric field ablation technology is not affected by the heat pool effect, it can perform superimposed ablation multiple times, which can greatly enhance the ablation depth.
  • CT imaging technology needs to be used to assist in guiding the ablation head through the bronchial branches to reach the tumor, which will cause the patient and the operator to receive a large amount of radiation.
  • CN201580060018.3 It is necessary to mark the tissues near the target first, and position them through fluoroscopy images and CT images. The positioning method is complex and has low accuracy, and a microwave ablation device is used for ablation treatment.
  • CN202010113062.9 requires a fusion positioning method that combines a depth camera and a magnetic positioner to locate the ablation needle, but the real-time positioning and visibility are poor.
  • CN109788979A uses pulsed electric field ablation technology, but during the intervention and energy delivery process, the exact position of the interventional device in the treatment area cannot be determined, and the control parameters can only be modified based on feedback from the implemented status, resulting in the loss of pulsed energy ablation. Problems include poor accuracy, poor real-time performance, and poor targeting of disease areas.
  • US13538947, CN201711006154.1, etc. provide probe-type ablation heads to treat narrow lung tissue. However, the probe-type ablation heads cannot form a good fit with the lesion tissue, and the ablation area is small.
  • This application provides an object ablation system, control method, device, medium and electronic equipment.
  • the present application provides an object ablation system, including an interventional device, a navigation control device, a first position acquisition device, and an ablation device;
  • the interventional device includes a second position acquisition device and an interventional component;
  • the first position acquisition device , the second position acquisition device, the intervention component and the ablation device are respectively communicatively connected with the navigation control device;
  • the first position collection device is used to collect the movement position information of the target object and transmit it to the navigation control device;
  • the second position acquisition device is used to collect the intervention position information of the intervention component in the target intervention area, and transmit it to the navigation control device, and the target intervention area belongs to the target object;
  • the navigation control device is used to construct a virtual model based on the regional image information of the target intervention area, the morphological attribute information of the intervention component, the motion position information and the intervention position information, and obtain a navigation three-dimensional model and an operation object.
  • a three-dimensional model is used to represent the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention component, and the spatial position information between the object to be ablated, the intervention component and the target intervention area.
  • the three-dimensional model of the operation object is used to characterize the three-dimensional spatial characteristics of the object to be ablated;
  • the navigation control device is also configured to determine target ablation parameters corresponding to the object to be ablated based on the navigation three-dimensional model, the three-dimensional operating object model and the object attribute information of the object to be ablated; and control the ablation device Operate based on the target ablation parameters, so that the interventional component performs ablation processing on the object to be ablated.
  • the navigation control device includes:
  • the intervention area sub-model building module is used to perform image recognition processing on the regional image information of the target intervention area to obtain image recognition results; and perform image reconstruction based on the image recognition results to obtain the intervention area sub-model and the operation
  • a three-dimensional model of the object, the intervention area sub-model is used to characterize the three-dimensional spatial characteristics of the target intervention area;
  • An interventional component sub-model building module is used to construct a virtual model based on the morphological attribute information of the interventional component to obtain an interventional component submodel, and the interventional component submodel is used to characterize the three-dimensional spatial characteristics of the interventional component;
  • a fusion module configured to perform spatial fusion processing on the intervention area sub-model, the operation object three-dimensional model and the intervention component sub-model according to the intervention position information and the motion position information, to obtain the navigation three-dimensional model .
  • the navigation control device further includes a navigation planning module, which is communicatively connected to the navigation three-dimensional model:
  • the navigation planning module is used to perform navigation planning based on the intervention area sub-model and the operation object three-dimensional model to obtain the navigation path of the intervention component within the intervention area sub-model, and the navigation path is used to indicate the location of the intervention area.
  • the traveling path of the interventional component required to reach the object to be ablated in the target interventional area.
  • the navigation planning module is also configured to determine the intervention trajectory of the intervention component based on the intervention position information and the movement position information of the intervention component during the movement of the intervention component in the target intervention area. information; if the intervention trajectory information and the path trajectory information corresponding to the navigation path meet the preset deviation conditions, the intervention position of the intervention component in the target intervention area is corrected to the updated intervention component The intervention trajectory information matches the path trajectory information.
  • the navigation control device also includes an initial parameter acquisition module and a target parameter determination module,
  • the initial parameter acquisition module is used to acquire the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, the adhesion parameters of the interventional component, and the interposition of the object to be ablated.
  • Electrical constant, the initial ablation parameters include at least one of pulse voltage, pulse width, pulse number and pulse group number;
  • the target parameter determination module is configured to determine the initial ablation parameters based on the navigation three-dimensional model, the three-dimensional operating object model, the object attribute information of the object to be ablated, the object attribute information of the object to be ablated, and the object to be ablated.
  • the ablation effect is evaluated based on the impedance data of the object, the adhesion parameters of the interventional component and the dielectric constant of the object to be ablated, and the ablation effect data corresponding to the initial ablation parameters is obtained; if the ablation effect data meets the target ablation conditions , determining the initial ablation parameters as the target ablation parameters.
  • the intervention equipment includes a contact detection device and a dielectric constant detection device, and the contact detection device and the dielectric constant detection device are respectively communicatively connected with the navigation control device;
  • the attachment detection device is used to detect the impedance data of the object to be ablated and the attachment parameters of the interventional component.
  • the impedance data is used to indicate the load of the interventional component, and the attachment parameters are used to indicate the attachment of the interventional component.
  • the degree of adhesion between the interventional component and the object to be ablated and sent to the initial parameter acquisition module;
  • the dielectric constant detection device is used to detect the dielectric constant of the object to be ablated.
  • the target parameter determination module includes a simulation ablation model building unit
  • the simulated ablation model building unit is configured to build a model based on the object attribute information, the initial ablation parameters, the impedance data, the adhesion parameters, the dielectric constant, the three-dimensional model of the operating object and the navigation three-dimensional model.
  • the model serves as the input of the ablation evaluation model, and the ablation effect is simulated to obtain a simulated ablation model corresponding to the initial ablation parameters.
  • the simulated ablation model is used to characterize the ablation effect data corresponding to the initial ablation parameters.
  • the navigation control device further includes an ablation three-dimensional model generation module
  • the ablation three-dimensional model generation module is used to obtain the ablation trajectory information and ablation data of the interventional component after the interventional component performs ablation processing on the object to be ablated; according to the ablation trajectory information, the ablation data and The target ablation parameters generate a three-dimensional ablation model, the ablation data includes an ablation area that has been ablated and ablation position information of the ablation area, and the three-dimensional ablation model represents the three-dimensional spatial characteristics of the ablated object to be ablated.
  • the navigation control device includes a pulse energy generation module
  • the pulse energy generation module is configured to generate an energy generation control signal based on the target ablation parameter to control the operation of the ablation device.
  • control circuit of the ablation device includes a switch circuit
  • the switch circuit includes at least two branch circuits connected in parallel, full bridge, half bridge or series, each of the branch circuits includes an input switch module and an output end switch module; the switch circuit controls the corresponding input end switch module and the output end switch module to conduct in response to the energy generation control signal of the pulse energy generation module to generate pulse energy.
  • the branch circuit includes a filtering module, the filtering module includes a plurality of filtering units, the filtering unit includes a variety of filters and a filter selector, and the filter selector is used to select different filters for filtering processing.
  • the interventional device includes a mandrel and a control tube assembly, and the mandrel is electrically connected to the interventional assembly and the ablation device respectively;
  • the second position acquisition device is provided on the mandrel and/or the interventional component
  • the interventional component includes at least one ablation electrode, at least one of the ablation electrodes is mesh-shaped, at least one of the ablation electrodes is arranged sequentially along the mandrel, the control tube assembly is sleeved on the outside of the mandrel, and the The control tube assembly can move relative to the mandrel to drive the interventional assembly to expand or contract.
  • the contact detection device and the dielectric constant detection device are both disposed on the intervention component, and the contact detection device and the dielectric constant detection device are both communicatively connected with the navigation control device.
  • the interventional device includes a fixed sleeve.
  • the two ends of the sleeve body of the fixed sleeve are provided with internal tooth structures along the circumferential direction.
  • the internal tooth structures at both ends are inclined from the end face of the sleeve body to the inside of the end face.
  • the second position acquisition device is provided between the two internal tooth structures of the fixed sleeve.
  • the manipulation tube assembly includes at least one manipulation tube connected to the ablation electrode.
  • At least one of the ablation electrodes can be configured as a monopolar electrode or a bipolar electrode.
  • the maximum expandable distance of the plurality of ablation electrodes sequentially arranged along the mandrel increases sequentially from the distal end to the proximal end of the mandrel.
  • the ablation electrode includes a plurality of electrode wires, and the plurality of electrode wires are cross-woven into a mesh-like ablation electrode.
  • the expanded axial cross-section of the ablation electrode is elliptical, spindle-shaped, polygonal or umbrella-shaped.
  • control handle includes an operating handle, and a channel for the mandrel and the control tube assembly to pass through is provided in the control handle.
  • the operating handle is provided with a control component, the control component is slidingly or rotationally connected with the operating handle, and the control component is used to control the movement of at least one of the control tubes.
  • the present application provides a medical interventional device, which includes an inner core tube, an outer control tube, an electrode guidewire, and an ablation electrode.
  • the electrode guidewire is detachably installed in the inner core tube.
  • the outer control tube The tube sleeve is arranged outside the inner core tube;
  • the distal end of the ablation electrode is fixedly connected to the distal end of the inner core tube, and the proximal end of the ablation electrode Fixedly connected to the outer wall of the outer control tube, the outer control tube can move along the inner core tube to drive the ablation electrode to expand or contract.
  • the inner core tube is a through-tube, and the distal end of the electrode guidewire can pass through the distal end of the inner core tube to contact the diseased tissue.
  • both the electrode guidewire and the ablation electrode are electrically connected to the ablation device.
  • the ablation electrode includes a plurality of electrode wires, and the plurality of electrode wires are cross-woven into a mesh.
  • distal ends of the plurality of electrode wires are fixedly connected to the outer wall of the distal end of the inner core tube.
  • an energy delivery device including a guide tube, an expandable structure, an interventional component and a handle.
  • One end of the guide tube is connected to the handle, and the other end of the guide tube is connected to the expandable structure. connect;
  • a cooling medium channel is formed in the guide tube, one end of the cooling medium channel is used to communicate with the cooling medium source, and the other end of the cooling medium channel is connected to the expandable structure;
  • the interventional component includes a delivery line and an ablation electrode.
  • One end of the delivery line is connected to the ablation electrode, and the other end of the delivery line is used to connect to the ablation equipment.
  • the ablation electrode is in a mesh shape and the ablation electrode package cover the expandable structure.
  • a second position collecting device is provided at one end of the guide tube away from the handle.
  • the guide tube includes an outer tube and an inner tube, and a cooling medium channel is formed between the outer tube and the inner tube.
  • one end of the expandable structure close to the handle is connected to the outer tube, and the other end of the expandable structure is connected to the inner tube.
  • the ablation electrode has a quadrilateral mesh structure.
  • the ablation electrode is made by cutting, weaving or electroforming.
  • both ends of the ablation electrode are respectively connected to both ends of the expandable structure through connectors.
  • the ablation electrode can expand with the expansion of the expandable structure and contract with the contraction of the expandable structure.
  • a communication portion is provided on the handle, and the communication portion communicates with the cooling medium source and the cooling medium channel respectively.
  • the second position collection device is communicatively connected with the navigation control device.
  • the present application provides an adjustable and bendable guide tube, which includes a control part and a first layer of tube and a second layer of tube whose proximal end is connected to the control part.
  • the second layer of tube is arranged on the first layer of the tube.
  • the second layer tube is connected with the inside of the control part;
  • a second position acquisition device is provided at one end of the second layer of pipe away from the control part, and the second position acquisition device is provided on the outer wall of the second layer of pipe;
  • the control part is provided with a bending control member and an adjustment wire.
  • One end of the adjustment wire is connected to the bending control member, and the other end of the adjustment wire is used to be fixed with the bending section of the second layer of pipe. connect.
  • the diameters of the first layer of tubes and the second layer of tubes gradually decrease from the proximal end to the distal end.
  • a conductive line is included, and the second position acquisition device is connected to the navigation control device through the conductive line.
  • the bending section is provided on the second layer of pipe, and the distance between the bending section and the distal end of the second layer of pipe is 2cm-5cm.
  • a connecting structure is provided outside the bending section, and the bending section is connected to the adjusting wire through the connecting structure.
  • the bending control member is slidingly or rotationally connected with the control part.
  • the bending control member pulls the second layer tube through the adjustment wire to bend an arc of 0-180°.
  • the adjustment wire is a round wire rope or a flat wire rope composed of single or multiple strands of metal wire.
  • a wire-bending channel is set on the outside of the adjusting wire, and the wire-bending channel is arranged along the axial direction of the second layer tube and is connected to the control part.
  • the present application provides a medical biopsy sampling device, which includes an adjustment part, a guide tube, a sampling part and a bending part; the guide tube is sleeved on the sampling part, and the guide tube and the adjustment part Connection, the adjustment part is provided with a first adjustment member and a second adjustment member;
  • One end of the sampling piece is connected to the first adjusting piece, and the other end of the sampling piece is provided with a sampling head; one end of the bending piece is connected to the second adjusting piece, and the other end of the bending piece is connected to The bending part of the guide tube is connected, and the bending part can pull the guide tube to bend through the bending part.
  • a second position acquisition device is provided on the sampling piece, and the second position acquisition device is arranged close to the sampling head.
  • the second position acquisition device is used to collect the position information of the sampling head and transmit it. to the navigation control device.
  • the bending portion is provided on the guide tube and is close to the distal end of the guide tube.
  • the bending adjustment member includes a control wire, one end of the control wire is connected to the second adjustment member, and the other end of the control wire is connected to the bending portion.
  • the bending member includes an adjustment tube, the adjustment tube is sleeved on the adjustment wire, and the adjustment tube is connected to the guide tube.
  • a connector is provided at the bending portion of the guide tube, and the control wire is connected to the bending portion through the connector.
  • first adjusting member and the second adjusting member are slidingly or rotationally connected with the adjusting part respectively.
  • the bending member pulls the guide tube to bend an arc of 0°-120°.
  • the second position acquisition device is connected to the navigation control device through a signal line.
  • this application provides an object ablation control method, which method includes:
  • a virtual model is constructed to obtain a navigation three-dimensional model and a three-dimensional model of the operating object.
  • the navigation three-dimensional model is In order to characterize the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention component, and the spatial position information between the object to be ablated, the intervention component and the target intervention area, the three-dimensional model of the operation object is used Characterizing the three-dimensional spatial characteristics of the object to be ablated;
  • the ablation device is controlled to operate based on the target ablation parameters, so that the intervention component performs ablation processing on the object to be ablated.
  • this application provides an object ablation control device, which includes:
  • Information receiving module used to receive the movement position information of the target object collected by the first position acquisition device and the intervention position information of the intervention component in the target intervention area collected by the second position acquisition device, and the target intervention area belongs to the target object. ;
  • Model construction module used to construct a virtual model based on the regional image information of the target intervention area, the morphological attribute information of the intervention component, the motion position information and the intervention position information, and obtain the guidance Navigation three-dimensional model and three-dimensional model of the operating object.
  • the navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention component, as well as the object to be ablated, the intervention component and the target intervention.
  • Spatial position information between regions, the three-dimensional model of the operating object is used to characterize the three-dimensional spatial characteristics of the object to be ablated;
  • Parameter determination module configured to determine target ablation parameters corresponding to the object to be ablated based on the navigation three-dimensional model, the three-dimensional operating object model and the object attribute information of the object to be ablated;
  • Object control module used to control the ablation device to operate based on the target ablation parameters, so that the intervention component performs ablation processing on the object to be ablated.
  • this application provides a pulse ablation effect evaluation method, including:
  • the data to be evaluated includes detection data collected by the ablation catheter, ablation parameters of the ablation device, and basket status data;
  • the data to be evaluated is input into a pre-trained ablation state evaluation model to obtain the ablation state evaluation result; the ablation state evaluation model can calculate based on the data to be evaluated and the corresponding relationship between the data to be evaluated and the ablation state.
  • the ablation status assessment results are displayed in the three-dimensional model of the current tissue.
  • the step of inputting the data to be evaluated into a pre-trained ablation status evaluation model and obtaining the ablation status evaluation results includes:
  • the ablation state assessment model is trained and updated based on the updated sample data.
  • the method before inputting the data to be evaluated into a pre-trained ablation state evaluation model, the method includes:
  • displaying the ablation status evaluation result in the three-dimensional model of the current tissue includes:
  • the ablation status evaluation result and/or the display color corresponding to the ablation status is displayed in the three-dimensional model of the current tissue; the ablation status evaluation result includes an ablation range and an ablation depth.
  • the detection data includes impedance signals
  • obtaining the data to be evaluated includes:
  • the frequency range of the first signal is a first preset frequency range
  • the return signal is filtered to convert the return signal into the impedance signal.
  • the detection data includes a dielectric constant signal
  • obtaining the data to be evaluated includes:
  • the frequency range of the sinusoidal excitation signal is the second preset frequency range
  • the complex impedance electrical signal transmitted back after sinusoidal excitation signals of different frequencies act on the current tissue is obtained, and the complex impedance electrical signal is used as the dielectric constant signal.
  • the basket status data includes the basket expansion status data and the contact area between the basket and the current tissue.
  • the basket expansion status data and the contact area are used to determine the thickness of the area to be ablated.
  • this application provides a pulse ablation effect evaluation device, including:
  • the model building module is used to map and model the current tissue at the ablation catheter to obtain a three-dimensional model of the current tissue;
  • a data acquisition module used to obtain data to be evaluated; the data to be evaluated includes detection data collected by the ablation catheter, ablation parameters of the ablation device, and basket status data;
  • a state assessment module configured to input the data to be evaluated into a pre-trained ablation state assessment model to obtain an ablation state assessment result;
  • the ablation state assessment model can be based on the data to be evaluated and the data to be evaluated and the ablation state corresponding relationship, and calculate the ablation status evaluation result corresponding to the data to be evaluated;
  • a result display module is used to display the ablation status evaluation results in the three-dimensional model of the current tissue.
  • the present application provides a computer-readable storage medium in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the following:
  • the above-mentioned object ablation control method and pulse ablation effect evaluation method are stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the following: The above-mentioned object ablation control method and pulse ablation effect evaluation method.
  • the present application provides an electronic device, which includes a processor and a memory. At least one instruction or at least one program is stored in the memory, and the at least one instruction or at least one program is loaded and executed by the processor to implement the object ablation control method and the pulse ablation effect evaluation method as described above.
  • the object ablation system of this application constructs a virtual model based on the regional image information of the target intervention area for complex target intervention areas, and obtains a navigation three-dimensional model and an operation object three-dimensional model.
  • the navigation 3D model is used to characterize the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention components, and the spatial position information between the object to be ablated, the intervention components and the target intervention area.
  • the interventional component can be navigated and positioned through the navigation 3D model, which provides important and intuitive help in determining the position of the interventional component during the operation, so that the interventional component can reach farther and narrower lesions, and the interventional equipment can accurately reach the treatment area and
  • the lesion tissue is evenly attached to each other, significantly optimizing the ablation effect.
  • this application allows the operator to intuitively observe the ablation range and ablation effect of the pulse energy generated based on the initial ablation parameters, and can intuitively help the operator determine whether the initial ablation parameters need to be adjusted, and then The initial ablation parameters and ablation times are optimized to obtain the target ablation parameters to generate more accurate pulse energy.
  • the switch circuit of the ablation equipment of the present application can realize several changes in the amplitude, pulse width, interval, quantity or direction of the pulse energy through the connection of different branch circuits and the control of the corresponding input switch modules and output switch modules on the different branch circuits. kind of combination. By cooperating with the control and filtering modules of the corresponding input switch modules and output switch modules on different branch circuits, the output of pulse energy of different frequencies and shapes can be achieved. Based on the switch circuit of this application, the ablation equipment can generate more targeted pulse energy by having different changes in voltage amplitude, frequency and pulse shape in a set of pulse energy, which not only increases the therapeutic effect but also helps reduce the number of steps in the ablation treatment process. to improve the safety of treatment.
  • the navigation control device of this application also includes an ablation three-dimensional model generation module.
  • the ablation three-dimensional model is used to record the ablation trajectory information and ablation data of the interventional component in the target interventional area. Through the ablation three-dimensional model, the operator can review and observe the ablation trajectory information and ablation data of the interventional components at any time, which provides very important data support for the operator to judge which parts have been ablated and which parts have not yet been ablated, which can effectively improve the efficiency of surgery and reduce the cost of ablation. Possibility of repeated surgical ablation.
  • the object ablation system of this application combines navigation control equipment, ablation equipment and interventional equipment to improve surgical accuracy, efficiency, treatment effect and treatment safety.
  • the interventional component of the interventional device of the present application includes at least one mesh-shaped ablation electrode.
  • the ablation electrode has a compact structure, good support, and even energy distribution. It can better fit with the lesion tissue, have a larger fitting area, and more uniform ablation. Both ends of the ablation electrode are fixed by a fixed sleeve with an internal tooth structure, which improves coaxiality and greatly reduces coaxial problems caused by bending and twisting after the distal end of the ablation electrode is fixed to the mandrel.
  • the connection is reliable and can effectively avoid surgery.
  • the problem of shedding and cracking of the distal end of the ablation electrode during the process improves the reliability of the interventional equipment and shortens the treatment time.
  • the object ablation system of this application combines navigation control equipment, ablation equipment and interventional equipment to improve surgical accuracy, efficiency, treatment effect and treatment safety.
  • the inner core tube of the medical interventional device of the present application is detachably provided with an electrode guidewire.
  • the electrode guidewire can be transported to the thinner bronchus through the inner core tube to reach the diseased tissue. To perform ablation treatment on narrower areas.
  • the ablation electrode in the energy delivery device of the present application is mesh-shaped and covered on the surface of the expandable structure. It has a compact structure, higher tensile performance and structural stability. After controlling the expansion of the expandable structure, the mesh ablation electrode has a larger and more uniform area of contact with the target area, and the treatment effect is better.
  • the guide tube is a double-layered tube with a cooling medium channel and a wire channel. The structure is more compact and avoids the redundancy of exposed wires.
  • the energy delivery device can guide the expandable structure and interventional components to accurately reach the target area through the cooperation of the second position acquisition device and the navigation control device.
  • the second position acquisition device of the adjustable guide tube of the present application is arranged at the distal end of the guide tube, and the guide tube can be positioned and navigated through the second position acquisition device.
  • the guide tube also includes a bending control part and an adjusting wire, through which the bending control part and the adjusting wire can control the bending of the guide tube.
  • the second position acquisition device cooperates with the bending control member and adjustment wire that control the bending of the guide tube to more accurately locate the lesion, allowing the distal end of the guide tube to accurately reach farther and narrower lesions, greatly improving diagnosis.
  • the accuracy and precision of treatment effectively reduce the trauma of diagnosis and treatment.
  • the adjustable guide tube has a simple structure and is easy to operate, and can be used with other interventional instruments for precise examinations or treatments such as sampling, microwave, ablation, and radiotherapy. It is highly practical and easy to promote and produce.
  • the medical biopsy sampling device of the present application integrates the first adjusting member for controlling the sampling member and the second adjusting member for controlling the bending part into the adjusting part. They are adjusted separately through different adjusting channels, making the operation more convenient; the guiding part can be controlled through the bending part. The distal end of the tube is bent, and the bending arc is increased, so that the flexibility of the guide tube to drive the sampling piece to bend is increased, allowing fine adjustments to be made to more accurately reach the diseased area and take samples.
  • the sampling device is also equipped with a second position collection device. Through the positioning and navigation of the guide tube and the sampling head by the second position collection device, the sampling head can be guided to arrive more accurately. Improve sampling accuracy in diseased areas.
  • the pulse ablation effect evaluation method and device of this application can combine three-dimensional mapping modeling technology and pulsed electric field ablation technology to realize ablation status evaluation, and further improve the effectiveness of pulsed electric field lung ablation treatment based on the ablation status evaluation results.
  • Figure 1 is a schematic structural diagram of an object ablation system of the present application
  • Figure 2 is a schematic structural diagram of an interventional device of the present application
  • Figure 3 is a schematic structural diagram of an ablation electrode equipped with a limiting structure in the interventional device of the present application
  • Figure 4 is a schematic structural diagram of the interventional device of the present application including two ablation electrodes and two control tubes;
  • Figure 5 is a schematic structural diagram of an interventional component of the interventional device of the present application including multiple ablation electrodes;
  • Figure 6 is a cross-sectional view of the operating handle of the interventional device of the present application.
  • Figure 7 is a schematic structural diagram of the fixed sleeve of the interventional device of the present application.
  • Figure 8 is a schematic structural diagram of an embodiment of the ablation electrode of the interventional device of the present application.
  • Figure 9 is a schematic structural diagram of another embodiment of the ablation electrode of the interventional device of the present application.
  • Figure 10 is a schematic structural diagram of the ablation electrode of the interventional device of the present application expanded into an umbrella shape
  • Figure 11 is a schematic structural diagram of an interventional component of the interventional device of the present application including multiple cylindrical ablation electrodes;
  • Figure 12 is a schematic structural diagram of a medical interventional device of the present application.
  • Figure 13 is a cross-sectional view of the inner core tube, control outer tube and electrode guide wire of the medical interventional device of the present application;
  • Figure 14 is a schematic diagram of the state in which the medical interventional device of the present application is inserted into the trachea;
  • Figure 15 is a top view of an energy delivery device of the present application.
  • Figure 16 is a schematic structural diagram of the energy delivery device of the present application.
  • Figure 17 is a detailed structural diagram of the expandable structure and interventional components of the energy delivery device of the present application.
  • Figure 18 is a cross-sectional view of the guide tube of the energy delivery device of the present application.
  • Figure 19 is a schematic structural diagram of an adjustable bending guide tube of the present application.
  • Figure 20 is a schematic structural diagram of the second position acquisition device and the distal end of the second layer of the adjustable guide tube of the present application;
  • Figure 21 is a schematic structural diagram of the connection between the adjusting wire and the bending section of the adjustable bending guide tube of the present application.
  • Figure 22 is a schematic structural diagram of a medical biopsy sampling device of the present application.
  • Figure 23 is a schematic structural diagram of the sampling head and the second position collection device of the sampling device of the present application.
  • Figure 24 is a schematic structural diagram of the connection between the bending piece and the bending portion of the sampling device of the present application.
  • Figure 25 is a schematic structural diagram of the connection between the bending piece and the bending portion in another embodiment of the sampling device of the present application.
  • Figure 26 is a schematic structural diagram of the navigation control device of the object ablation system of the present application.
  • Figure 27 is a schematic structural diagram of the target parameter determination module of the object ablation system of the present application.
  • Figure 28 is a schematic diagram of the simulation, evaluation and display of the pulse energy ablation effect on the lungs of this application;
  • Figure 29 is a diagram showing the relationship between the contact length between the interventional component and the bronchus simulated by this application and the inner diameter of the bronchus;
  • Figure 30 is a diagram of the relationship between contact length and field strength as the number of bronchial stages increases simulated by this application;
  • Figure 31 is a diagram of the relationship between contact length and field strength as the bronchial wall thickness increases simulated by this application;
  • Figure 32 is a diagram of the ablation effect of pulse energy on lung tissue in the simulation ablation model generated by this application when the pulse voltage amplitude is set to 1500V;
  • Figure 33 is a pathological structural diagram of the bronchial tissue of the present application.
  • Figure 34 is a prediction diagram of the ablation effect of pulse energy generated by different initial ablation parameters of the present application on the mucosal layer of bronchial tissue;
  • Figure 35 is a module schematic diagram of the control circuit of the ablation device of the present application.
  • Figure 36 is a module schematic diagram of a branch circuit of the ablation device of the present application.
  • Figure 37 is a flow chart of an object ablation control method of the present application.
  • Figure 38 is a flow chart of a pulse ablation effect evaluation method of the present application.
  • Figure 39 is a connection block diagram of the pulse ablation effect evaluation system of this application.
  • Figure 40 is a functional block diagram of the pulse ablation effect evaluation method of this application.
  • Figure 41 is an example of the ablation status assessment model provided by this application.
  • Figure 42 is a structural block diagram of the pulse ablation effect evaluation device provided by this application.
  • Figure 43 is a schematic structural diagram of the server of this application.
  • the reference numbers in the figure correspond to: 1-interventional equipment, 11-second position acquisition device, 12-interventional component, 120-transmission line, 121-ablation electrode, 122-first ablation electrode, 123-second ablation Electrode, 124- Limiting structure, 13-mandrel, 14-control tube assembly, 141-control tube, 142-first control tube, 143-second control tube, 15-fixing sleeve, 151-internal tooth structure, 16-operating handle, 161-channel, 162-fixed bayonet, 163-sealing ring, 17-control component, 100-inner core tube, 101-control outer tube, 102-electrode guide wire, 103-fixer, 104-operating handle, 105- Control parts, 20-guide tube, 201-cooling medium channel, 202-outer tube, 203-inner tube, 204-wire channel, 21-expandable structure, 22-handle, 23-connector, 24-wire, 30-Control part, 31-First
  • This application provides an object ablation system that can control the interventional equipment through the navigation and positioning function to accurately enter target interventional areas such as tumors, lumens, organs, etc. to form a better fit with the diseased tissue, and can analyze the ablation effect data before ablation. Conduct ablation effect assessment to generate more precise and targeted pulse energy and deliver it to the diseased tissue for ablation treatment.
  • the ablation system of the present application can be used to treat pulmonary tracheal and endobronchial diseases, such as chronic bronchitis, chronic obstructive pulmonary disease, asthma, etc.
  • the tissue structure of the bronchus in the lungs mainly includes epithelial cells, lamina intestinal and the underlying mucosa.
  • the epithelial cells are pseudo-stratified cells with cilia. Goblet cells are sandwiched between the pseudo-stratified cells.
  • the goblet cells secrete a small amount of mucus.
  • the underlying mucosa mainly Includes smooth muscle and connective tissue, with mucus glands located in the connective tissue secreting most of the mucus.
  • the ablation system targeted by this application can remove goblet cells in epithelial cells and mucus glands in the underlying mucosa through pulse energy destruction, thereby reducing mucus secretion in the bronchial lumen, and destroying the failed ciliated pseudostratification through pulse energy.
  • the cells are killed, and the new epithelial cells can better help cough up tracheal mucus and prevent mucus accumulation.
  • the object ablation system of the present application can improve surgical accuracy, efficiency, treatment effect and treatment safety.
  • the target intervention area in this application is the pulmonary bronchus area of the target object
  • the operation object is the diseased tissue area to be ablated in the pulmonary bronchus.
  • this application provides an object ablation system, including an interventional device 1, a navigation control device 2, a first position acquisition device 3 and an ablation device 4.
  • the interventional device 1 includes a second position acquisition device 11 and an interventional component 12 .
  • the first position acquisition device 3, the second position acquisition device 11, the interventional component 12 and the ablation device 4 are respectively communicatively connected with the navigation control device 2.
  • the interventional device 1 is used to deliver pulse energy and intervene in the body of the target object to perform ablation treatment on the object to be ablated.
  • the interventional device 1 includes a mandrel 13 , a control tube assembly 14 , a second position acquisition device 11 and an interventional assembly 12 .
  • the mandrel 13 is electrically connected to the interventional component 12 and the ablation device 4 respectively.
  • the second position acquisition device 11 is provided on the mandrel 13 and/or the interventional component 12 .
  • the interventional component 12 includes at least one ablation electrode 121.
  • the at least one ablation electrode 121 can be mesh-shaped.
  • the at least one ablation electrode 121 is sequentially arranged along the mandrel 13.
  • the control tube assembly 14 is sleeved on the mandrel 13.
  • the control tube assembly 14 can face each other.
  • the mandrel 13 moves to drive the interventional component 12 to expand or contract.
  • the second position acquisition device 11 can be disposed at any position on the mandrel 13 or the interventional component 12, and the number of the second position acquisition device 11 is not limited. Second position acquisition device 11 The larger the number, the more comprehensive real-time positioning and presentation of the real-time changes of the interventional device 1 in the trachea, and the expression of the position of the interventional device in the trachea from different dimensions.
  • the second position acquisition device 11 is disposed at the distal end of the mandrel 13 or the interventional component 12 .
  • the second position acquisition device 11 is used to collect the intervention position information of the intervention component 12 in the target intervention area, and transmit it to the navigation control device 2 through the signal line.
  • the target intervention area belongs to the target object.
  • the second position acquisition device 11 can be a magnetic induction sensor, and the magnetic induction sensor can obtain the intervention position information of the interventional component 12 in the target intervention area through a magnetic field; in other possible implementations, the second position The acquisition device 11 can be an electric induction sensor, and the electric induction sensor can obtain the intervention position information of the intervention component 12 in the target intervention area through an electric field.
  • the second position acquisition device 11 includes at least one five-degree-of-freedom magnetic positioning sensor or a six-degree-of-freedom magnetic positioning sensor.
  • the mandrel 13 may be an electrode wire connected to the ablation device 4 and the interventional component 12 respectively, and is used to transmit ablation energy to the interventional component 12 .
  • the mandrel 13 can be a stainless steel spring tube, a hypotube, a spiral tube, etc., and the mandrel 13 is provided with electrode wires connected to the ablation device 4 and the interventional component 12 respectively.
  • the electrode wire can be single or multiple strands, the wire diameter can be 0.05mm-1mm, and the electrode wire is made of conductive metal material.
  • the outer layer of the mandrel 13 is provided with a Teflon coating or is uncoated.
  • the steering tube assembly 14 includes at least one steering tube 141 connected to the ablation electrode 121 .
  • the interventional component 12 includes an ablation electrode 121
  • the manipulation tube assembly 14 includes a manipulation tube 141
  • the distal end of the ablation electrode 121 is connected to the distal end of the mandrel 13
  • the proximal end of the ablation electrode 121 is connected to the manipulation tube 141.
  • the outer walls of the tube 141 are fixedly connected, and the distal end of the control tube 141 is spaced apart from the distal end of the mandrel 13 .
  • the interventional component 12 includes a first ablation electrode 122 and a second ablation electrode 123.
  • the first ablation electrode 122 and the second ablation electrode 123 are sequentially arranged along the mandrel 13, and the manipulation tube assembly 14 includes a sheath in sequence.
  • a first control tube 142 and a second control tube 143 are provided, the distal end of the first ablation electrode 122 is connected to the distal end of the mandrel 13, and the proximal end of the first ablation electrode 122 is fixedly connected to the outer wall of the first control tube 142,
  • the expansion or contraction of the first ablation electrode can be controlled by controlling the movement of the first control tube 142.
  • the distal end of the first control tube 142 is spaced apart from the distal end of the first ablation electrode 122; the distal end of the second ablation electrode 123 is separated from the first ablation electrode 122.
  • the outer wall of the control tube is connected at a certain distance from the distal end of the first control tube.
  • the proximal end of the second ablation electrode 123 is fixedly connected to the outer wall of the second control tube 143.
  • the second ablation electrode can be controlled by controlling the movement of the second control tube. expansion or contraction.
  • the interventional component 12 includes a plurality of ablation electrodes 121,
  • the maximum distance that multiple ablation electrodes 121 can be spread is the same.
  • the maximum distance at which a plurality of ablation electrodes 121 sequentially arranged along the mandrel 13 can be opened increases in sequence from the distal end to the proximal end of the mandrel 13 . Therefore, according to changes in the inner diameter of the trachea, the ablation electrodes 121 of different diameters can be controlled to open by manipulating the tube assembly to adapt to tracheas of different inner diameters.
  • At least one ablation electrode 121 can be configured as a monopolar electrode or a bipolar electrode.
  • at least one ablation electrode 121 releases a monopolar pulse, and a negative electrode plate is attached to the target subject's body surface. The negative electrode plate is combined with the product to form a circuit in the body, allowing the pulse energy to act on the treatment area.
  • different ablation electrodes 121 form positive and negative poles in the target subject's body, and positive and negative energy are transferred to form a closed-loop treatment area between the positive and negative poles and the energy range within the two poles.
  • the interventional component 12 includes an ablation electrode 121, and the ablation electrode 121 is electrically connected to a connection port in the ablation device through a plurality of electrode lines, and the connection port includes one negative terminal port and seven positive terminal ports.
  • the negative terminal port is used to connect the negative electrode plate attached to the target object's body surface, and the other seven positive terminal ports are connected to different electrode wires, and the electrode wires are connected to the ablation electrode 121.
  • the first electrode line is connected to the first port
  • the second electrode line is connected to the second port
  • the third electrode line is connected to the third port
  • the fourth electrode line is connected to the fourth port
  • the fifth electrode line is connected to the fifth port
  • the sixth electrode The wire is connected to the sixth port
  • the seventh electrode wire is connected to the seventh port.
  • Each electrode connection port can be controlled individually through user settings, and the circuit is controlled on and off according to the area and scope of ablation.
  • the ablation electrode 121 includes a plurality of electrode wires, and the plurality of electrode wires are cross-woven into a mesh-shaped ablation electrode 121 .
  • the ablation electrode 121 can be braided with conductive metal wires, and the material of the metal wires can be preferably stainless steel, nickel-titanium alloy, cobalt-chromium alloy, or other materials with good electrical conductivity.
  • the longitudinal section of the metal wire can be oval, circular or polygonal, so that the braided ablation electrode 121 can more fully fit the target location.
  • the mesh ablation electrode 121 is easy to change shape, can expand and contract, has higher mesh tightness, tensile performance and structural stability, can better fit the target position, and the fitting area is larger and more uniform, making treatment more convenient. Better results.
  • the expanded axial cross-section of the ablation electrode 121 may be spindle-shaped, polygonal, elliptical, or umbrella-shaped.
  • the ablation electrode 121 shrinks into a cylinder coaxial with the mandrel 13 to facilitate movement in the narrow channel;
  • the control tube drives the proximal end of the ablation electrode 121 to move toward its distal end, the ablation electrode 121 can be expanded into a mesh body with an axial cross-section of an ellipse, a spindle, a polygon, or an umbrella shape to increase the number of bronchial tubes with different inner diameters.
  • multiple ablation electrodes 121 are arranged sequentially along the mandrel 3 , and the maximum expandable diameter of the multiple ablation electrodes 121 increases sequentially from the distal end to the proximal end of the mandrel 13 , and can be adjusted according to the inner diameter of the trachea.
  • the ablation electrodes 121 of different diameters are controlled to open to adapt to different inner diameter sizes.
  • the trachea is particularly thin, only the ablation electrode 121 with the smallest diameter at the farthest end can be controlled to open, and a cylindrical structure with a rectangular axial cross-section is more suitable for a trachea with a smooth path.
  • an insulation layer is provided on the outside of the ablation electrode 121, and the insulation layer is used to increase the insulation performance of the ablation electrode 121.
  • control tube 141 may be PI (polyimide), PET (polyethylene terephthalate), Pebax (blocked polyetheramide resin) or PTFE (polytetrafluoroethylene), etc. Extruded tube, or PI/PTFE composite tube.
  • the outer diameter of the control tube 141 may be preferably 0.5mm-5mm, the wall thickness of the control tube 141 may be preferably 0.025mm-0.5mm, and the length may be preferably 40cm-80cm.
  • the ablation electrode 121 is provided with a limiting structure 124 , and the limiting structure 124 is spaced apart from the distal end of the control tube 141 .
  • the limiting structure may be a limiting tube disposed within the ablation electrode 121. The limiting tube is spaced apart from the distal end of the control tube 141. When the distal end of the control tube 141 conflicts with the limiting tube, The ablation electrode 121 is opened to its maximum.
  • the collision point between the limiting structure 124 and the distal end of the control tube 141 is located at the middle position when the ablation electrode 121 is expanded to its maximum, the overall ablation electrode 121 is more stable and fits the trachea better. better.
  • the maximum radial opening distance of the ablation electrode 121 can be adjusted.
  • the opening direction of the ablation electrode 121 can be limited by the limiting structure 124 .
  • the ablation electrode 121 can be opened into an umbrella shape, and the opening direction of the expansion will be at the distal end, so that when in a short trachea, The ablation electrode 121 can increase the area of contact with the trachea through this expansion method.
  • this umbrella-shaped structure can also conform to the narrow trachea, and will not cause the ablation electrode 121 to open too wide due to excessive radial support force. Damage to the inner wall of the trachea.
  • the interventional device 1 also includes a fixed sleeve 15 , which is fixedly connected to the end of the ablation electrode 121 to fix the end of the ablation electrode 121 .
  • the two ends of the sleeve body of the fixed sleeve 15 are provided with internal tooth structures 151 along the circumferential direction.
  • the internal tooth structures 151 at both ends are inclined from the end surface of the sleeve body to the inside of the end surface.
  • the tooth shape of the internal tooth structure (151) may be wavy teeth, triangular teeth, flat teeth, trapezoidal teeth, etc. Both ends of the ablation electrode 121 are fixedly connected to the mandrel 13 or the control tube assembly 14 through the fixed sleeve 15 .
  • the internal tooth structure (151) of the fixed sleeve 15 can better fix the mesh ablation electrode 121.
  • the arrangement of the internal tooth structure (151) makes the openings at both ends of the fixed sleeve 15 smaller, improves coaxiality, and greatly reduces the Coaxial problems caused by bending and twisting after the distal end of the ablation electrode 121 and the mandrel 13 are fixed.
  • the second position collecting device 11 can be placed between the two internal tooth structures (151) of the fixed sleeve 15 to reduce the space occupied by the installation of the second position collecting device 11.
  • the two ends of the ablation electrode 121 are fixed by the fixed sleeve 15, which improves the coaxiality and connection reliability of the two ends of the ablation electrode 121, avoids the ablation electrode 121 from falling off during the operation, improves the reliability of the interventional equipment, and shortens the treatment time. , and can leave space for the second position acquisition device 11.
  • the interventional device 1 also includes an operating handle 16, and a channel 161 is provided in the operating handle 16 to accommodate the passage of the mandrel 13 and the operating tube assembly 14.
  • the operating handle 16 is the control handle of the interventional device.
  • the mandrel 13 and signal lines of the interventional device can be integrated into one body and pass through the channel 161 of the operating handle 16.
  • the structure is compact and avoids the redundancy of exposed signal lines.
  • the proximal end of the channel 161 is provided with a fixed bayonet 162 , the fixed bayonet 162 is connected to the proximal end of the mandrel 13 , and the fixed bayonet 162 is used to fix the mandrel 13 .
  • a sealing ring 163 may be provided inside the fixed bayonet 162 , and the sealing ring 163 is used to improve the sealing performance and conductive safety of the operating handle 16 .
  • the operating handle 16 can be 3D printed or injection molded from materials such as plastic, nylon or silicone.
  • the operating handle 16 is provided with a control component 17 .
  • the control component 17 is slidingly or rotationally connected to the control handle 16 .
  • the other end of the control component 17 is fixedly connected to the proximal end of the control tube component 14 .
  • one end of the control component 17 is configured as a slider slidably connected to the outer wall of the operating handle 16
  • the other end of the control component 17 is configured as a plunger portion slidably connected to the inner wall of the operating handle 16 .
  • the plug is fixedly connected to the proximal end of the control tube assembly 14 .
  • the control component 17 can be configured as a knob, and the inner ring of the knob is threadedly connected to the control tube assembly 14. The rotation of the knob can drive the control tube assembly to move axially.
  • the manipulation tube assembly 14 can be controlled to move relative to the mandrel 13 through the manipulation assembly 17 to control the expansion degree of the interventional assembly 12 .
  • the interventional device 1 also includes a contact detection device and a dielectric constant detection device.
  • the contact detection device and the dielectric constant detection device are respectively communicatively connected with the navigation control device 2 .
  • the abutment detection device is used to detect the impedance data of the object to be ablated and the abutment parameters of the interventional component 12 .
  • the impedance data is used to indicate the load of the interventional component 12, and the adhesion parameter is used to indicate the degree of adhesion between the interventional component 12 and the object to be ablated; and is sent to the initial parameter acquisition module 025;
  • the dielectric constant detection device is used to detect the object to be ablated. dielectric constant.
  • the abutment detection device and the dielectric constant detection device may be disposed in the intervention group. on the outer wall of piece 12.
  • This application uses the above-mentioned interventional equipment to treat diseases in the pulmonary bronchi area: the mandrel 13 is controlled by the operating handle 16 and the control tube assembly is used to send the interventional component 12 in the contracted state into the trachea; when the interventional component reaches the target diseased tissue area, According to the inner diameter of the trachea, the opening degree of the ablation electrode 121 is controlled by the control assembly 17 so that the ablation electrode 121 and the diseased tissue are evenly attached; ablation energy is sent through the ablation equipment connected to the mandrel 13, and the ablation electrode 121 releases the ablation energy to target the diseased tissue. Carry out ablation treatment; the time and number of ablation treatments are controlled and operated according to the types of lesions in different target areas and different treatment plans, as well as the size and type of ablation energy delivered.
  • the object ablation system of the present application also includes a first position acquisition device 3.
  • the first position acquisition device 3 is used to collect the motion position information of the target object and transmit it to the navigation control device 2.
  • the motion position information of the target object in this application can be the respiratory status information of the target object
  • the first position acquisition device 3 can be a magnetic positioning electrode placed on or around the body surface of the target object to acquire the chest activity information of the target object when breathing.
  • the first position acquisition device 3 includes three or six uniquely shaped electrodes with built-in magnetic positioning sensors, and is placed on the patient's chest and/or back.
  • the first position acquisition device 3 moves upward with the chest, and when the target subject exhales, the first position acquisition device 3 moves downward with the chest.
  • the chest movement of the target object in the magnetic positioning signal field can be captured by the first position acquisition device 3.
  • the intervention component 12 provided by the second position acquisition device 11 can be Compensation calculation for respiratory interference is performed on the intervention position information in the target intervention area. After the compensation calculation, the respiratory interference suffered by the second position acquisition device 11 during movement can be eliminated, and more accurate intervention position information can be obtained.
  • the object ablation system of the present application also includes a positioning generating device, and the positioning generating device is communicatively connected with the navigation control device.
  • the positioning generation device is used to form a multi-dimensional positioning signal field in the work area. When the first position acquisition device and the second position acquisition device move within the positioning signal field, corresponding three-dimensional space position information can be collected.
  • the interventional device of the present application can also be a medical interventional device.
  • the medical interventional device is also used to accurately enter target interventional areas such as tumors, lumens, and organs, and connect with diseased tissues. It forms a good fit and is connected with the navigation control device and the ablation device to transport and apply the ablation energy generated by the ablation device to the diseased tissue to achieve ablation treatment.
  • the medical interventional device includes an inner core tube 100, a control outer tube 101, an electrode guidewire 102 and the above-mentioned ablation electrode 121.
  • the electrode guidewire 102 is detachably inserted into the inner core tube 100, and the control outer tube 101 is set inside. Outside the core tube 100; the distal end of the ablation electrode 121 is fixedly connected to the distal end of the inner core tube 100, the proximal end of the ablation electrode 121 is fixedly connected to the outer wall of the control outer tube 101, and the control outer tube 101 can move along the inner core tube 100 to The ablation electrode 121 is driven to expand or contract.
  • both the electrode guidewire 102 and the ablation electrode 121 are electrically connected to the ablation device 4 .
  • the inner core tube 100 can be a tubular structure such as a spring tube, a hypotube, or a hypotube spiral tube.
  • the inner core tube 100 is provided with electrode wires, and the ablation electrode 121 is electrically connected to the ablation device through the electrode wires. , transmitting ablation energy to the ablation electrode 121.
  • the electrode wire can be single or multiple strands, the wire diameter of the electrode wire can be 0.05mm-1mm, and the material of the electrode wire is a conductive metal material.
  • the outer tube 101 can be pushed to control the opening of the ablation electrode 121 according to the inner diameter of the trachea, so that it can evenly fit with the diseased tissue.
  • the inner core tube 100 is a through-tube, and the distal end of the electrode guidewire 102 can pass through the distal end of the inner core tube 100 to contact the diseased tissue.
  • the electrode guide wire can be a conductive metal wire, and the material of the metal wire can preferably be stainless steel, nickel-titanium alloy, cobalt-chromium alloy, or other materials with good electrical conductivity.
  • the electrode guidewire 102 can be passed through the control handle end and passed out from the distal end of the inner core tube 100 to reach the target diseased tissue, so as to perform ablation treatment on the diseased tissue.
  • the ablation electrode 121 includes a plurality of electrode wires, and the plurality of electrode wires are interwoven into a mesh shape.
  • the electrode wire can be a conductive metal wire, and the material of the metal wire can be preferably stainless steel, nickel-titanium alloy, cobalt-chromium alloy, or other materials with good electrical conductivity.
  • the longitudinal section of the metal wire may be oval, circular or polygonal, so that the braided ablation electrode 121 can more fully fit into the diseased tissue.
  • the mesh ablation electrode 121 is easy to change shape, can expand and contract, has higher mesh tightness, tensile performance and structural stability, can better fit with the diseased tissue, and the fit area is larger and more uniform. The treatment effect is better.
  • the expanded axial cross-section of the ablation electrode 121 of the present application may be elliptical, spindle-shaped, polygonal or umbrella-shaped.
  • the ablation electrode 121 shrinks into a cylinder coaxial with the inner core tube 100 to facilitate movement in the narrow channel; when the outer tube 101 is manipulated to drive the ablation electrode 121
  • the ablation electrode 121 can be expanded into a mesh body with an axial cross-section of an ellipse, a spindle, a polygon, or an umbrella shape to increase the adhesion to bronchial tubes of different inner diameters and diseased tissues with special shapes. combined area.
  • the electrode wires of the ablation electrode 121 are electrically connected to connection ports in the ablation device.
  • the connection port includes a negative terminal and a plurality of positive terminals. mouth. The negative terminal is used to connect the negative plate attached to the body surface of the target object.
  • One end of the electrode guide wire 102 is connected to the negative terminal, and the other positive terminals are connected to different electrode wires.
  • Each electrode connection port can be controlled individually through user settings, and the circuit is controlled on and off according to the area and scope of ablation.
  • the ablation electrode 121 includes multiple electrode lines, and the multiple electrode lines can be expanded into a lantern-like structure.
  • the lantern-like structure can fit bronchial tubes of different inner diameters and diseased tissues with special shapes.
  • the distal ends of the plurality of electrode wires are fixedly connected to the outer wall of the distal end of the inner core tube 100 .
  • the distal ends of the plurality of electrode wires can be fixedly connected to the outer wall of the distal end of the inner core tube 100 by welding, heat melting or bonding.
  • the interventional device also includes a fixing member 103, which is used to fix the proximal end of the ablation electrode 121.
  • the two ends of the sleeve body of the fixing member 103 are provided with internal tooth structures along the circumferential direction, and the internal tooth structures at both ends are inclined from the end surface of the sleeve body to the inside of the end surface.
  • the tooth shape of the internal tooth structure can be wavy teeth, triangular teeth, flat teeth or trapezoidal teeth.
  • the internal tooth structure can better fix the mesh ablation electrode 121.
  • the arrangement of the internal tooth structure makes the openings at both ends of the tube body of the fixing member 103 smaller and improves the coaxiality.
  • a second position acquisition device 11 is provided between the internal tooth structures at both ends of the fixation member 103.
  • the second position acquisition device 11 is used to obtain the intervention position information of the ablation electrode 121 in the target intervention area. And transmitted to the external navigation control device 2 through the signal line.
  • the second position acquisition device 11 is arranged inside the fixing member 103, which can greatly reduce the space occupied by the installation of the second position acquisition device 11. This application fixes the ablation electrode 121 through the fixing member 103, which improves the connection reliability of the ablation electrode 121, avoids the ablation electrode 121 from falling off during the operation, improves the reliability of the interventional device, shortens the treatment time, and can provide the second There is space left for the location acquisition device.
  • the second position acquisition device can be disposed at any position on the inner core tube 100 or the ablation electrode 121, and the number of the second position acquisition device is not limited. The greater the number of second position acquisition devices, the more comprehensive real-time positioning and presentation of the real-time changes of the interventional device in the trachea can be achieved, and the position of the product in the trachea can be expressed from different dimensions.
  • an insulation layer is provided on the outside of the ablation electrode 121, and the insulation layer is used to increase the insulation performance of the ablation electrode 121.
  • the outer control tube 101 may be an extruded tube such as PI, PET, Pebax or PTFE, or a PI/PTFE composite tube.
  • the outer diameter of the outer control tube 101 is preferably 0.5mm-5mm, the wall thickness of the outer control tube 101 is preferably 0.025mm-0.5mm, and the length is preferably 40cm-80cm.
  • the interventional device of the present application also includes an operating handle 104.
  • the operating handle 104 is provided with a channel for the inner core tube 100 and the outer control tube 101 to pass through.
  • the inner core tube 100, electrode guide wire 102 and signal of the interventional device The signal wires can be integrated into one body and passed out from the operating handle 104.
  • the structure is compact and avoids the redundancy of exposed signal wires.
  • the proximal end of the channel is provided with a fixed bayonet, the fixed bayonet is connected to the proximal end of the inner core tube 100, and the fixed bayonet is used to fix the inner core tube 100.
  • a sealing ring can be provided inside the fixed bayonet, and the sealing ring is used to improve the sealing performance and conductive safety of the operating handle 104 .
  • the operating handle 104 can be 3D printed or injection molded from materials such as plastic, nylon, or silicone.
  • the operating handle 104 is provided with a control piece 105, which is slidably or rotationally connected to the operating handle 104.
  • the control piece 105 is used to control the movement of the outer tube 101.
  • one end of the control member 105 is slidingly or rotationally connected to the operating handle 104, and the other end of the control member 105 is fixedly connected to the proximal end of the control outer tube 101.
  • one end of the operating member 105 is configured as a slider slidably connected to the outer wall of the operating handle 104, and the other end of the operating member 105 is configured as a plunger portion slidably connected to the inner wall of the operating handle 104.
  • the plug part is fixedly connected to the proximal end of the outer control tube 101.
  • the control member 105 can be configured as a knob, and the inner ring of the knob is threadedly connected to the operating handle 104.
  • the rotation of the knob can drive the control outer tube 101 to move axially.
  • the outer tube 101 can be controlled to move relative to the inner core tube 100 through the operating member 105 to control the opening degree of the expandable electrode 3 .
  • the steps for applying the above-mentioned interventional device in this application are as follows: control the inner core tube 100 and the outer tube 101 by operating the handle 104 to send the ablation electrode 121 in the contracted state into the trachea; when the ablation electrode 121 reaches the target diseased tissue area, according to the inner diameter of the trachea,
  • the control part 105 controls the opening degree of the ablation electrode 121 so that the ablation electrode 121 and the diseased tissue are evenly attached; when the diseased tissue is in a narrower trachea, first shrink the ablation electrode 121 to the smallest bronchi it can reach, and then
  • the electrode guidewire 102 is passed through the inner core tube 100 at the end of the operating handle 104, and is extended from the distal end of the inner core tube 100 and transported into the thinner bronchus to reach the diseased tissue; by electrically connecting the electrode guidewire 102 and the ablation electrode 121
  • the connected ablation equipment sends ablation energy, and the electrode guidewire 102 and/or the
  • the interventional device of the present application can also be an energy delivery device, used to accurately enter tissue areas such as tumors, lumens, organs, etc., and can form a better connection with the target area. It is attached to and connected to the navigation control equipment and ablation equipment. By cooperating with the navigation control equipment for navigation and precise positioning, the ablation equipment and interventional components apply pulse energy to the target area to achieve pulse ablation without damaging the surrounding normal tissue.
  • the energy delivery device of the present application includes a guide tube 20, an expandable structure 21, an interventional component 12 and a handle 22.
  • One end of the guide tube 20 is connected to the handle 22 , and the other end of the guide tube 20 is connected to the expandable structure 21 .
  • the guide tube 20 is used to connect the handle 22 and the expandable structure 21 .
  • a cooling medium channel 201 is formed in the guide tube 20 .
  • One end of the cooling medium channel 201 is used to communicate with the cooling medium source, and the other end of the cooling medium channel 201 is connected to the expandable structure 21 .
  • a cooling medium channel 201 is formed inside the guide tube 20 , and the cooling medium enters the expandable structure 21 through the cooling medium channel 201 inside the guide tube 20 .
  • the guide tube 20 includes an outer tube 202 and an inner tube 203 , and a cooling medium channel 201 is formed between the outer tube 202 and the inner tube 203 .
  • a wire channel 204 is formed in the inner tube 203 .
  • the guide tube 20 is configured as a double-layer tube.
  • the inner tube 203 is hollow inside and forms a cooling medium channel 201 and a wire channel 204 at the same time, making the structure more compact.
  • one end of the expandable structure 21 close to the handle 22 is connected to the outer tube 202 , and the other end of the expandable structure 21 is connected to the inner tube 203 .
  • the length of the inner tube 203 is longer than the outer tube 202.
  • One end of the expandable structure 21 close to the handle 22 is connected to the outer tube 202, and the other end is connected to the inner tube 203.
  • the cooling medium is connected to one end of the outer tube through the expandable structure. Input, the end connected to the expandable structure 21 and the inner tube 203 is a closed end, and the cooling medium will not flow out.
  • the cooling medium enters the expandable structure 21 through the cooling medium channel 201 located between the outer tube 202 and the inner tube 203 and then returns to the original path through the cooling medium channel 201.
  • the input and output channels of the cooling medium in this application are the same channel, which not only simplifies the structure, but also facilitates precise control of the volume of the cooling medium input into the expandable structure 21, thereby controlling the expansion degree of the expandable structure 21.
  • the expandable structure 21 expands with the input of the cooling medium and contracts with the output of the cooling medium, so that the energy delivery component can better adhere to and separate from the target area.
  • guide tube 20 may be a sheath. Specifically, it can be PEBAX tube or nylon tube.
  • the outer diameter of the outer tube 202 of the guide tube 20 is 1mm-5mm, the wall thickness of the outer tube 202 is 0.025mm-0.5mm, and the length is at least 40cm; the inner diameter of the inner tube 203 is 0.5mm-3mm, and the wall thickness is 0.025mm-0.5mm, length at least 40cm.
  • the outer tube 202 has an outer diameter of 4mm, a wall thickness of 0.2mm, and a length of 60cm;
  • the inner tube 203 has an inner diameter of 1.6mm, a wall thickness of 0.2mm, and a length of 68cm.
  • the guide tube 20 is long enough after being connected to the expandable structure 21 and the interventional component to extend from the outside of the body to the target area for pulse ablation treatment.
  • the length of the guide tube 20 may be at least 50cm, 60cm, 70cm, 80cm, 90cm, 100cm, 110cm, 120cm, 130cm, 140cm or a range in between.
  • the guide tube 20 has excellent bending and bending resistance and can better adapt to the complex and bending requirements of the human body.
  • the inner wall of the guide tube 20 is smooth and has low friction resistance.
  • the cooling medium source is used to input the cooling medium into the cooling medium channel 201, and the cooling medium source may be a cooling medium injector or a cooling medium supplier. In some embodiments, the cooling medium source may control the volume and pressure of the cooling medium fed into the expandable structure 21 . This application controls the expansion of the expandable structure 21 by inputting the cooling medium, and then shrinks the expandable structure 21 after controlling the output of the cooling medium.
  • the cooling medium includes but is not limited to one or more of the following or a combination thereof: water, sodium chloride solution, glucose aqueous solution, sodium lactate and compound sodium chloride solution, sodium bicarbonate and isotonic saline solution, etc. In some embodiments, the cooling medium cools the surface of the expandable structure by absorbing heat.
  • the expandable structure 21 is configured as a bladder that can be expanded with the input of cooling medium.
  • the expandable structure 21 can be expanded into one of a spherical balloon, an elliptical balloon, a conical balloon, a dumbbell-shaped balloon, or a cylindrical balloon.
  • the expandable structure 21 may be made of materials such as PU, PEBAX, or nylon.
  • the length of the expandable structure 21 is at least 5 mm.
  • the length of the expandable structure 21 may be 6 mm, 7 mm, 8 mm, 10 mm, 12 mm, 15 mm, 16 mm, 18 mm, 20 mm or a range therebetween.
  • the outer diameter of the expandable structure 21 ranges from 4 mm to 10 mm.
  • the handle 22 is an operating handle for controlling the guide tube 20 to deliver the expandable structure 21 and the interventional component 12 to the target area for treatment.
  • One end of the guide tube 20 is inserted into the handle 22 and can be bonded to the handle 22 through quick-drying glue, UV glue, epoxy glue, or other glue.
  • the handle 22 can be 3D printed or injection molded from materials such as plastic, nylon, or silicone.
  • the handle 22 is provided with a communication portion 221, and the communication portion 221 communicates with the cooling medium source and the cooling medium channel 201 respectively.
  • the communication part 221 may be a communication hole provided on the handle 22 , and the cooling medium source communicates with the cooling medium channel 201 through the communication hole; in some embodiments, the communication part 221 may be a communication hole provided on the handle 22
  • the cooling medium source is connected to the cooling medium channel 201 through the connecting pipe.
  • the connecting tube is integrally formed with the handle 22 .
  • the interventional component 12 includes a delivery line 120 and an ablation electrode 121 .
  • One end of the delivery line 210 is connected to the ablation electrode 121 , and the other end of the delivery line 120 is used to connect to an energy supply device, that is, an ablation device.
  • the ablation electrode 121 is in the shape of a mesh, and the ablation electrode 121 covers the expandable structure 21 .
  • both ends of the ablation electrode 121 are connected to both ends of the expandable structure 21 through connectors 23 respectively.
  • the connecting member 23 may be a connecting sleeve, preferably a cold shrink tube or a heat shrink tube.
  • the two ends of the ablation electrode 121 of the present application can be fixedly connected to the two ends of the expandable structure 21 through heat shrink tubes.
  • the ablation electrode 121 can expand as the expandable structure 21 expands, and contract as the expandable structure 21 contracts.
  • the ablation electrode 121 can 21 enters the human body along with the guide tube 20; when the expandable structure 21 expands, the ablation electrode 121 is closely attached to the surface of the expandable structure 21, and the surface of the ablation electrode 121 is evenly attached to the target area, and the transmission line 120 is controlled to transmit the pulse energy to the ablation site. On the electrode 121, pulse discharge is realized.
  • the transmission wire 120 may be a stainless steel wire, a copper wire or an enameled wire.
  • the wire diameter of the conveyor line 120 is 0.05mm-0.5mm.
  • the outer layer of the delivery line 120 is covered with a PTFE heat shrink tube, a PET heat shrink tube or a PI sheath. In some other embodiments, the outer layer of the conveyor line 120 is further provided with a PTFE coating. Delivery line 120 is used to deliver pulse energy to ablation electrode 121 .
  • the ablation electrode 121 may have a quadrilateral mesh structure.
  • the ablation electrode 121 may be a parallelogram mesh structure.
  • the ablation electrode 121 may have a diamond-shaped mesh structure.
  • the quadrilateral mesh is unstable and can easily change shape. Therefore, when the ablation electrode 121 has a quadrilateral mesh structure, the mesh is tighter, the tensile performance and structural stability are higher, and it can better adhere to the surface of the expandable structure 21 , as the expandable structure 21 expands and contracts, at the same time, the mesh ablation electrode 121 and the target area have a larger and more uniform fitting area, and the treatment effect is better.
  • ablation electrode 121 may be cut, braided, or electroformed.
  • the ablation electrode 121 may be made of materials with good electrical conductivity, such as stainless steel, nickel-titanium alloy, or cobalt-chromium alloy.
  • the wire diameter of the mesh ablation electrode 121 is 0.05mm-0.30mm.
  • the length of the ablation electrode 121 is greater than the length of the expandable structure 21, and the length of the ablation electrode 121 is at least 5 mm.
  • the length of the ablation electrode 121 may be 6 mm, 8 mm, 10 mm, 15 mm, 18 mm, 20 mm or a range in between.
  • a second position collecting device 11 is provided at one end of the guide tube 20 away from the handle 22 .
  • the second position acquisition device 11 may be connected to the inner tube 203 of the guide tube 20 .
  • the second position acquisition device 11 can be bonded to the guide tube 20 through glue such as quick-drying glue, UV glue, epoxy glue, etc.
  • the second position acquisition device 11 can also be connected to the guide tube 20 through a heat shrink tube such as PU, PET, PTFE or PEEK.
  • the second position acquisition device 11 includes at least one multi-degree-of-freedom magnetic positioning sensor. In one embodiment, the second position acquisition device 11 includes at least one five-degree-of-freedom magnetic positioning sensor or a six-degree-of-freedom magnetic positioning sensor.
  • the second position acquisition device 11 is communicatively connected with the external detection device. In some embodiments, the second position acquisition device 11 is connected to the external detection device through wires 24, and the wires 24 are used to transmit the collected information such as position and direction to the external detection device. As shown in Figure 18, the wire 24 is passed through the wire channel 204 and passes out from the handle 22, making the structure more compact and avoiding the redundancy of exposed wires. In other embodiments, the second position acquisition device 11 can also be wirelessly connected to the external detection device.
  • the second position acquisition device 11 of the present application is connected to the external detection device, that is, the navigation control device, and the second position acquisition device 11 obtains the moving position of the end of the guide tube 20 away from the handle 22 in real time in the electromagnetic positioning system in the magnetic field space. and directional coordinates to perform positioning, and transmit the position information of the guide tube 20 to the navigation control device 2 .
  • the steps for applying the above-mentioned energy delivery device in this application are as follows: control the guide tube 20 through the handle 22 to send the expandable structure 21 and the interventional component 12 in the contracted state into the target area in the body, and conduct navigation and precise positioning through the second position acquisition device 11;
  • the cooling medium source inputs the cooling medium into the expandable structure 21 through the cooling medium channel 201; when the expandable structure 21 expands, the ablation electrode 121 expands with the expandable structure 21 and evenly abuts the diseased tissue;
  • the pulse energy release is controlled by the ablation device , perform pulse treatment on the target area; during the process of multiple pulse treatments, the expandable structure can be controlled by controlling the input and output of the cooling medium, while absorbing and taking away the heat generated by the treatment; the time and number of pulse treatments are tailored to different target areas
  • the type of lesion and different treatment options, as well as the magnitude of the pulse energy delivered, are controlled and operated.
  • the ablation electrode 121 of the present application is mesh-shaped and covered on the surface of the expandable structure, with a tighter structure, higher tensile performance and structural stability.
  • the mesh ablation electrode 121 has a larger and more uniform bonding area with the diseased tissue, and the treatment effect is better.
  • the guide tube is a double-layered tube with a cooling medium channel and a wire channel.
  • the structure is compact and avoids the redundancy of exposed wires.
  • the energy delivery device of this application can guide the expandable structure and interventional components to accurately reach the target area through the positioning and navigation of the second position acquisition device. It has a simple structure, simple operation steps, low cost, easy promotion and production, and is conducive to patient relief. economic burden.
  • the interventional device of the present application can also be an adjustable and bendable guide tube.
  • the guide tube can be used in conjunction with an endoscope, or can be used alone to reach farther lesions.
  • the distal end of the guide tube is provided with a second position acquisition device 11.
  • the second position acquisition device 11 is externally connected to the navigation control device 2.
  • the navigation control device 2 tracks the position of the distal end of the guide tube through the second position acquisition device 11, thereby achieving the purpose of navigation.
  • the guide tube can be used with interventional instruments such as biopsy forceps and ablation catheters to perform precise examinations or treatments such as sampling, microwave, ablation, and radiotherapy.
  • FIG 19 is a schematic structural diagram of the adjustable bending guide tube.
  • the adjustable guide tube of this application includes a control part 30 and a first layer tube 31 and a second layer tube 32 whose proximal ends are connected to the control part 30.
  • the second layer tube 32 is arranged in the first layer tube 31.
  • the second layer tube 32 is connected with the inside of the control part 30;
  • control part 30 may be an adjustment handle or an adjustment rod with a hollow interior.
  • the control unit 30 can Made of 3D printing or injection molding using materials such as plastic, nylon or silicone.
  • the proximal ends of the first layer tube 31 and the second layer tube 32 can be bonded to the control part 30 through quick-drying glue, UV glue, epoxy glue, or other glue.
  • the first layer of tube 31 is placed outside the second layer of tube 32, and the second layer of tube 32 can be configured as a single-lumen sheath tube or a multi-lumen sheath tube according to actual needs.
  • the guide tube can be extruded tubes such as PI/PET/PEBAX/PTFE, PI/PTFE composite tubes, PEBAX and stainless steel wire braided tubes, or multi-layer tubes.
  • the diameter of the second layer tube 32 can be 0.5mm-5mm, and the tube wall thickness can be 0.025mm-0.5mm.
  • the length of the second layer of tube 32 is greater than or equal to the length of the first layer of tube 31 , and the distal end of the second layer of tube 32 is flush with the distal end of the first layer of tube 31 or protrudes from the first layer of tube 31 the far end. In some embodiments, the length of the second layer of tubes 32 is at least 60 cm.
  • the length of the second layer tube 32 can be at least 60cm, 70cm, 80cm, 90cm, 100cm, 110cm, 120cm or a range in between.
  • the diameters of the first layer of tubes 31 and the second layer of tubes 32 remain constant from the proximal end to the distal end.
  • the diameters of the first layer of tube 31 and the second layer of tube 32 gradually decrease from the proximal end to the distal end.
  • the proximal diameter of the second layer tube 32 is 2mm-5mm, and the distal diameter is 0.5mm-3mm. The gradual reduction of the diameters of the first layer tube 31 and the second layer tube 32 is conducive to increasing the flexibility of the distal end of the guide tube, making it easier for the guide tube to bend along the direction, thereby avoiding damage to the human body to the greatest extent.
  • the hollow tube of the second layer tube 32 can be used as a working channel for interventional instruments such as biopsy forceps and ablation catheters or external therapeutic substances such as drugs to enter the human body. Interventional instruments such as biopsy forceps and ablation catheters are transported through the internal hollow tube of the guide tube to avoid friction damage to the human body.
  • a second position acquisition device 11 is provided at the far end of the second layer tube 32 away from the control part 30 , and the second position acquisition device 11 is connected to the outer wall of the second layer tube 32 .
  • the distance between the second position acquisition device 11 and the distal end of the second layer tube 32 is 0-2 cm.
  • the distance from the second position acquisition device 11 to the distal end of the second layer tube 32 may be 0, 0.5 cm, 1 cm, 2 cm or a distance in between.
  • the second position collection device 11 is connected to the outer wall of the second layer tube 32 and does not occupy the space of the hollow tube of the second layer tube 32, which is convenient for cooperating with interventional instruments such as sampling or ablation.
  • the distance between the second position acquisition device 11 and the far end of the second layer pipe 32 is smaller, and the position and direction information of the far end of the second layer pipe 32 collected by the second position acquisition device 11 is more accurate.
  • the second position acquisition device 11 may be bonded to the outer wall of the second layer of tube 32 .
  • the second position acquisition device 11 can be heat-shrinkably connected to the second layer tube 32 through heat-shrinkable tubes such as PU, PET, PTFE, or PEEK.
  • the second position acquisition device 11 is connected to the conductive wire 33, and the conductive wire 33 is For external navigation control device 2. Specifically, one end of the conductive line 33 is connected to the second position acquisition device 11 , and the other end is communicatively connected to the navigation control device 2 . Specifically, the conductive wire 33 may be welded and connected to the second position acquisition device 11 through laser welding or soldering. The conductive wire 33 may pass through the hollow pipe of the second layer of tube 32 , or may pass out along the gap between the second layer of tube 32 and the first layer of tube 31 .
  • the conductive wire 33 is a single-strand or multi-strand enameled wire, and the wire diameter of the conductive wire 33 is between 0.05 mm and 0.3 mm.
  • the conductive line 33 is used to transmit the position, direction and other information of the guide tube collected by the second position acquisition device 11 to the extracorporeal navigation control device 2 .
  • the second position acquisition device 11 includes at least one multi-degree-of-freedom magnetic positioning sensor, and the multi-degree-of-freedom magnetic positioning sensor is connected to the outer wall of the second layer tube 32 .
  • the second position acquisition device 11 includes at least one five-degree-of-freedom magnetic positioning sensor or a six-degree-of-freedom magnetic positioning sensor.
  • the second position acquisition device 11 of the present application can obtain the position and direction coordinates of the movement of the distal end of the guide tube, and transmit the position information of the guide tube to the navigation control device 2, thereby navigating and positioning the guide tube.
  • the control part 30 is provided with a bending control member 34 and an adjusting wire 35.
  • One end of the adjusting wire 35 is connected to the bending control member 34, and the other end of the adjusting wire 35 is used to connect with the bending section 321 of the second layer tube 32.
  • the bending section 321 of this application is provided on the second layer of tube 32 and is close to the distal end of the second layer of tube 32 .
  • the distance between the bending section 321 and the distal end of the second layer tube 32 is 2cm-5cm.
  • the distance from the bending section 321 to the distal end of the second layer tube 32 is 2cm, 3cm, 4cm, 5cm or a distance in between.
  • the bending control member 34 and the bending wire 12 pull the second layer tube 32 to bend. If the distance between the bending section 321 and the far end of the second layer tube 32 is too large or too small, it will affect the flexibility of the adjusting wire 35 in driving the second layer tube 32 to bend. degree and precision.
  • the bending control member 34 is slidingly or rotationally connected with the control part 30 .
  • the bending control member 34 may be configured as a slider structure slidably connected with the control part 30 .
  • the slider structure can be 3D printed or injection molded using materials such as plastic, nylon or silicone.
  • the control part 30 is provided with a track 36, and the bending control member 34 slides along the track 36 to pull the bending section 321 of the second layer tube 32 through the adjustment wire 35 to bend the second layer tube 32, and control the distance of the second layer tube 32. direction to reach the diseased area more accurately.
  • the track 36 may be a guide rail slide.
  • the bending control member 34 is configured as a wheel structure connected to the control part 30 . The bending control member 34 rotates and pulls the adjustment wire 35 to move, thereby driving the second layer tube 32 to bend.
  • the bending adjustment structure of this application is simple and easy to implement.
  • the bending control member 34 pulls the second layer tube 32 through the adjusting wire 35 to bend the arc of 0-180°.
  • the maximum bending arc of the second layer tube 32 can be 100°, 110°, 120°, 150°, 160°, 180° or range in between.
  • the bending control member 34 of the present application uses the adjustment wire 35 to pull the second layer tube 32 to bend into a larger arc.
  • the flexibility of the distal end of the second layer tube 32 is increased, and it can enter the lesion location with a more remote angle.
  • both the first layer tube 31 and the second layer tube 32 have a certain degree of flexibility.
  • the first layer tube 31 is sleeved on the outside of the second layer tube 32. When the second layer tube 32 bends, the first layer tube 31 follows the second layer tube 32.
  • the two-layer pipe 32 is bent.
  • a connecting structure 37 is provided outside the bending section 321 , and the bending section 321 is connected to the adjusting wire 35 through the connecting structure 37 .
  • the connecting structure 37 is used to connect the adjusting wire 35 and the bending section 321 .
  • the connecting structure 37 may be configured as a connecting tube or connecting clip fixed on the bending section 321 , and the adjusting wire 35 is welded to the connecting structure 37 .
  • the connection structure 37 can be a heat shrink connection tube or a cold shrink connection tube.
  • the connection structure 37 is sleeved on the outside of the bending section 321 and the adjustment wire 35. After the connection structure 37 shrinks, the adjustment wire 35 and the adjustment wire 35 are connected.
  • the bent sections 321 are tightly connected.
  • the adjusting wire 35 is a round wire rope or a flat wire rope composed of single or multiple strands of metal wire.
  • the outer diameter of the adjusting wire 35 can be 0.05mm-0.3mm. In practical applications, by pulling the regulating wire 431 connected to the bending section 321, the bending of the guide tube can be controlled.
  • a wire-bending channel 38 is set on the outside of the adjusting wire 35 .
  • the wire-bending channel 38 is arranged along the axial direction of the second layer tube 32 and is connected to the control part 30 .
  • the wire-bending channel 38 is sleeved on the adjusting wire 35 , and the wire-bending channel 38 is connected to the second layer tube 32 .
  • One end of the wire bending channel 38 is connected to the control part 30 , and the other end of the wire bending channel 38 can be welded and connected to the outer wall of the second layer pipe 32 .
  • the distance between the end of the wire bending channel 38 close to the bending section 321 and the far end of the second layer tube 32 is 2.5cm-5.5cm.
  • the wire bending channel 38 can be a PTFE or nylon tube with a diameter of 0.15mm-0.35mm.
  • the wire bending channel 38 is a moving channel for the adjustment wire 35 to move, which can prevent the adjustment wire 35 from losing control or over-bending when being pulled by force, affecting the accuracy of adjusting the distal end of the guide tube.
  • the method of using the adjustable guide tube in this application is as follows: insert the guide tube into the working channel of the endoscope, reach the lungs with the endoscope, and pass out from the channel exit; accurately guide the second position acquisition device under the guidance of navigation Locate and reach the diseased tissue.
  • the bending control part and the adjustment wire can be used to control the bending and aiming position of the distal end of the guide tube; insert biopsy forceps, ablation interventional components and other interventional instruments through the guide tube for sampling, microwave, ablation or radiotherapy Waiting for precise examination or treatment.
  • the end of the bendable guide tube in this application is provided with a second position acquisition device, and the guide tube can be positioned and navigated through the second position acquisition device.
  • the guide tube also includes a bending control part and an adjusting wire, through which the bending control part and the adjusting wire can control the bending of the guide tube.
  • Second position acquisition device and control guide tube bending The unique bending control and adjustment wire can position the diseased tissue more accurately, allowing the distal end of the guide tube to accurately reach farther and narrower lesions, greatly improving the accuracy of diagnosis and treatment, and effectively Diagnostic and treatment trauma is reduced.
  • the adjustable bending guide tube of the present invention has a simple structure, is easy to operate, has low cost, is highly practical, and is easy to promote and produce.
  • the interventional device of the present application can also be a medical biopsy sampling device, which is mainly used for clinical sampling of diseased lung tissue.
  • the sampling device can be used with a bronchoscope to enter the trachea through the patient's nose or mouth, and then reach the lungs through the bronchi to sample peripheral lung lesions or diffuse lung lesions.
  • the sampling device of this application can be used in conjunction with a bronchoscope, and can also use its own second position collection device to cooperate with external navigation control equipment for navigation and positioning, and adjust the guide tube and sampling piece through the bending piece to accurately reach the location of the lesion and obtain diseased tissue.
  • FIG 22 is a schematic structural diagram of the biopsy sampling device of the present application.
  • the biopsy sampling device includes an adjustment part 40, a guide tube 41, a sampling part 42 and a bending part 43.
  • the guide tube 41 is sleeved on the sampling piece 42 , and the guide tube 41 is connected to the adjustment part 40 .
  • the guide tube 41 includes a proximal end and a distal end, and the proximal end of the guide tube 41 is connected to the adjustment part 40 .
  • the proximal end of the guide tube 41 can be bonded to the adjusting portion 40 through quick-drying glue, UV glue, epoxy glue, or other glue.
  • the inside of the guide tube 41 is a hollow structure, which is used as a working channel for the pushing and shrinking of the sampling member 42 .
  • the guide tube 41 may be a sheath tube, and may be a single-lumen sheath tube or a multi-lumen sheath tube according to actual requirements. In some embodiments, specifically, it can be an extruded pipe such as PI/PET/PEBAX/PTFE, or a PI/PTFE composite pipe or a PEBAX and stainless steel wire braided pipe.
  • the outer diameter of the guide tube 41 can be 0.5mm-5mm, and the tube wall thickness can be 0.025mm-0.5mm.
  • the length of the guide tube 41 is at least 40cm.
  • the length of the guide tube 41 can be at least 40cm, 50cm, 60cm, 70cm, 80cm, 90cm, 100cm, 110cm or a range in between.
  • the outer diameter of the guide tube 41 gradually decreases from the proximal end to the distal end.
  • the outer diameter of the proximal end of the guide tube 41 is 2mm-5mm; the outer diameter of the distal end is 0.5mm-2.5mm. The gradual reduction of the outer diameter of the guide tube 41 is conducive to increasing the flexibility of the guide tube, making it easier to bend along with the direction of the bronchus, thereby avoiding damage to the bronchus to the greatest extent.
  • the adjusting part 40 is provided with a first adjusting member 401 and a second adjusting member 402.
  • One end of the sampling member 42 is connected to the first adjusting member 401, and the other end of the sampling member 42 is provided with a sampling head 421.
  • the first adjusting member 401 is used to drive the sampling member 42 and the sampling head 421 to be pushed out or retracted into the guide tube 41 from the distal end of the guide tube 41 .
  • the sampling member 42 may be a metal wire or metal tube that is passed through the guide tube 41 .
  • the material of the sampling piece 42 may be stainless steel, nickel-titanium alloy, cobalt-chromium alloy, or other materials with good bending performance and corrosion resistance. Preferably, it can be 304 or 316 stainless steel.
  • the diameter of the sampling piece 42 can be Thought 0.2mm-2mm.
  • the outer layer of the sampling piece 42 can be provided with a PTFE coating, and the thickness of the coating is 0.005mm-0.1mm.
  • the sampling head 421 may be a diamond-shaped cone head, through which the lesion is punctured and sampled.
  • at least one barb structure is distributed along the axial direction or circumferential direction on the sampling head 421, and the diseased tissue is punctured and sampled through the barb structure.
  • the sampling head 421 is provided with two barb structures.
  • the tip of the sampling head 421 is provided with a sampling groove, and sampling is performed through the sampling groove.
  • the sampling piece 42 can be integrally formed with the sampling head 421, and the sampling head 421 can be made by machining grinding chips or wire cutting. Compared with the traditional clamp-type sampling head, the sampling head of this application is smaller in size, easier to operate and reach precise positions, and the sampling wound is smaller.
  • the biopsy sampling device of the present application includes a bending member 43.
  • One end of the bending member 43 is connected to the second adjusting member 402, and the other end of the bending member 43 is connected to the bending portion 411 of the guide tube 41.
  • the bending member 43 is The member 43 can pull the guide tube 41 to bend through the bending portion 411.
  • the bending portion 411 is provided on the guide tube 41 and is close to the distal end of the guide tube 41 .
  • the distance between the bending portion 411 and the distal end of the guide tube 41 is 0.5cm-6cm.
  • the distance from the bending portion 411 to the distal end of the guide tube 41 is 0.5cm, 1cm, 2cm, 3cm, 4cm, 5cm, 6cm or a distance in between.
  • the distance between the bending part 411 and the far end of the guide tube 41 is too large, it will affect the flexibility of the bending part 43 in driving the guide tube to bend. If the distance between the bending part 411 and the far end of the guide tube 41 is too close, it will affect the control of the bending part 43 Precision at the distal end of the guide tube.
  • the bending member 43 includes a control wire 431 , one end of the control wire 431 is connected to the second adjustment member 402 , and the other end of the control wire 431 is connected to the bending portion 411 .
  • the second adjusting member 402 can drive the adjusting wire 431 to move, so that the adjusting wire 431 pulls the guide tube 41 to bend through the bending portion 411 .
  • the control wire 431 can be a single-strand or multi-strand stainless steel wire, and the outer diameter of the control wire can be 0.1mm-0.3mm. In practical applications, the length of the guide tube 41 remains unchanged. By tightening the regulating wire 431 fixedly connected to the bending portion 411, the guide tube 41 can be pulled to bend to one side.
  • the bending member 43 includes an adjustment tube 432 , the adjustment tube 432 is sleeved on the adjustment wire 431 , and the adjustment tube 432 is connected to the guide tube 41 .
  • one end of the adjustment tube 432 is connected to the adjustment part 40 , and the other end of the adjustment tube 432 can be fixedly connected to the guide tube 41 through thermal welding or other methods.
  • the regulating tube 432 is a sheath tube for the regulating wire 431 to pass through. It can be a PTFE or nylon tube with an outer diameter of 0.15mm-0.35mm.
  • the adjustment tube 432 is a guide channel for the adjustment wire 431 to move, which can prevent the adjustment wire 431 from losing control or over-bending when being pulled by force, affecting the accuracy of adjustment of the distal end of the guide tube.
  • the bending portion 411 of the guide tube 41 is provided with a connector. 44.
  • the control wire 431 is connected to the bending portion 411 through the connector 44.
  • the connecting piece 44 can be a connecting pipe or a connecting clip fixed on the bending portion 411 , and the regulating wire 431 is welded to the connecting piece 44 .
  • the connector 44 can be a heat-shrink connecting tube or a cold-shrink connecting tube.
  • the connector 44 is sleeved on the outside of the bending portion 411 and the regulating wire 431 . After the connector 44 shrinks, The control wire 431 is closely connected to the bending portion 411 .
  • the bending member 43 of the present application pulls the guide tube 41 to bend an arc of 0°-120°.
  • the maximum bending arc may be 90°, 100°, 110°, 120° or a range thereof.
  • the bending member 43 of the present application drives the guide tube 41 to bend in a larger arc, so that the distal end of the guide tube 41 drives the sampling head 421 to move more flexibly, allowing for fine adjustment, accurately reaching farther locations, and effectively acquiring diseased tissue.
  • the bending adjustment piece 43 has a simple structure and is easy to implement.
  • a guide sleeve 45 is set on the outside of the guide tube 41 and the bending member 43 .
  • One end of the guide sleeve 45 is connected to the distal end of the guide tube 41 , and the other end of the guide sleeve 45 is connected to the adjustment part 40 .
  • the bending action of the bending component 43 driving the guide tube 41 to bend is performed in the guide sleeve 45 .
  • the first adjusting member 401 and the second adjusting member 402 are slidingly or rotationally connected with the adjusting part 40 respectively.
  • the adjusting part 40 may be an adjusting handle or an adjusting rod.
  • the adjustment part 40 can be 3D printed or injection molded using materials such as plastic, nylon or silicone.
  • the first adjustment member 401 that controls the sampling member 42 and the second adjustment member 402 that controls the bending member 43 are integrated into the adjustment part 40, and are adjusted separately through different adjustment channels, making the operation more precise and convenient.
  • the first adjustment member 401 and the second adjustment member 402 may be configured as a slider structure.
  • the slider structure can be 3D printed or injection molded from materials such as plastic, nylon or silicone.
  • the adjusting part 40 is provided with a first chute and a second chute.
  • the first adjusting member 401 is slidably connected to the first chute
  • the second adjusting member 402 is slidably connected to the second chute.
  • the first slide groove and the second slide groove are integrated into a strip groove that runs through the adjustment part 40
  • the first adjustment member 401 and the second adjustment member 402 are connected to both sides of the strip groove respectively. .
  • the adjusting wire 431 can be pulled to move.
  • the adjusting wire 431 pulls the guide tube 41 to bend through the bending portion 411, thereby controlling the direction of the distal end of the guide tube to reach the lesion more accurately.
  • the sampling head 421 can be controlled to be pushed out or retracted from the distal end of the guide tube 41 to more accurately obtain the diseased tissue.
  • the first adjusting member 401 and the second adjusting member 402 can be configured as a wheel structure.
  • the sampling member 42 can be driven to move to control the distance of the sampling head 421 from the guide tube 41.
  • the end is pushed out or retracted.
  • the rotation of the second adjusting member 402 can drive the adjusting wire 431 to move, so that the adjusting wire 431 is pulled through the bending portion 411
  • the guide tube 41 is bent.
  • the first adjustment member 401 controls the maximum push-out distance of the sampling head 421 from the distal end of the guide tube 41 to 10 cm.
  • the maximum push-out distance of the sampling head 421 can be 5cm, 6cm, 7cm, 8cm, 9cm, 10cm or a distance in between.
  • the second position collecting device 11 is provided on the sampling piece 42 , and the second position collecting device 11 is arranged close to the sampling head 421 .
  • the distance between the second position collection device 11 and the sampling head 421 may be 0-3 cm.
  • the distance from the second position collection device to the sampling head 421 may be 0.5cm, 1cm, 2cm, 3cm or any distance therebetween.
  • the distance between the second position collecting device of the present application and the sampling head 421 is smaller, and the collected position and direction information of the sampling head 421 is more accurate.
  • the second position collection device 11 can be bonded to the sampling piece 42 through glue such as quick-drying glue, UV glue, epoxy glue, etc.
  • the second position collection device 11 can also be connected to the sampling member 42 through a heat shrink tube such as PU, PET, PTFE or PEEK. In some embodiments, the second position collection device retracts into the guide tube together with the sampling head 421 .
  • the second position acquisition device 11 is connected to the extracorporeal navigation control device 2 through the signal line 46 .
  • the signal line 46 is passed through the guide tube 41 and passes through the through hole opened in the adjustment part 40 to be connected to the extracorporeal navigation control device.
  • the signal wire 46 may be a single-strand or multi-strand enameled wire, and the wire diameter of the signal wire 46 is between 0.05 mm and 0.3 mm.
  • the signal line 46 and the second position acquisition device 11 may be welded and connected through laser welding or soldering.
  • the signal line 46 is used to transmit the position, direction and other information collected by the second position collection device 11 to the navigation control device.
  • the second position acquisition device 11 includes at least one multi-degree-of-freedom magnetic positioning sensor.
  • the second position acquisition device 11 includes at least one five-degree-of-freedom magnetic positioning sensor or a six-degree-of-freedom magnetic positioning sensor.
  • the second position acquisition device 11 can obtain the position and direction coordinates of the movement of the sampling head 421 in real time, and transmit the position information of the sampling head 421 to the navigation control device 2.
  • the navigation control device 2 performs operations on the sampling head 421 based on the acquired position information. Navigation and positioning.
  • This application uses the above-mentioned biopsy sampling device to implement sampling steps: connect the signal line 46 of the second position collection device 11 to the extracorporeal navigation control device 2, retract the sampling head into the guide tube; place the guide tube into the bronchoscope working channel, and then The bronchoscope reaches the lungs and passes through the channel exit; it is accurately positioned and reaches the diseased area under the navigation guidance of the second position acquisition device 11 and the extracorporeal navigation control device.
  • the bending member 43 can be pulled through the second adjustment member 402 Control the guide tube 41 to bend and aim at the position; control the sampling head 421 to push out from the distal end of the guide tube through the first adjustment member 401 to perform puncture and sampling; through the first adjustment member 401 The adjusting member 401 controls the sampling head 421 to retract back to the guide tube after sampling, and then the sampling device is taken out from the bronchoscope working channel to take out the tissue sample.
  • the first adjustment member that controls the sampling member and the second adjustment member that controls the bending part are integrated into the adjustment part, and are adjusted separately through different adjustment channels, making the operation more convenient.
  • the bending piece can be used to control the distal end of the guide tube to adjust, and the bending radian increases, so that the guide tube drives the sampling piece to bend with increased flexibility, allowing for fine adjustments to more accurately reach the lesion area and sample.
  • the sampling device of this application is equipped with a second position collection device. Through the navigation and positioning of the second position collection device and the in vitro navigation control equipment, the sampling piece can be guided directly to the lesion area, improving the sampling accuracy and effectively avoiding sampling failure and repeated sampling.
  • the biopsy sampling device has a simple structure, is easy to operate, has a low cost, is easy to promote and produce, and is conducive to reducing the economic burden on patients.
  • the navigation control device 2 of the present application is used to construct a virtual model based on the regional image information of the target intervention area, the morphological attribute information of the intervention component 12, the motion position information and the intervention position information, and obtain a navigation three-dimensional model and an operation object three-dimensional model.
  • the navigation three-dimensional model It is used to characterize the three-dimensional space characteristics of the target intervention area, the three-dimensional space characteristics of the intervention component 12, and the spatial position information between the object to be ablated, the intervention component 12 and the target intervention area.
  • the three-dimensional model of the operating object is used to characterize the three-dimensional space of the object to be ablated. feature.
  • the navigation control device 2 of the present application includes:
  • the intervention area sub-model building module 021 is used to perform image recognition processing on the regional image information of the target intervention area to obtain image recognition results; and perform image reconstruction based on the image recognition results to obtain the intervention area sub-model and the three-dimensional model of the operation object.
  • the regional sub-model is used to characterize the three-dimensional spatial characteristics of the target intervention area.
  • the regional image information of the target intervention area in this application may be a CT image or an MRI image of the target intervention area.
  • the three-dimensional data of the target intervention area and the three-dimensional data of the operation object can be extracted to provide data support for building a three-dimensional model.
  • the CT image of the target intervention area is the lung CT image of the target object
  • the three-dimensional data of the lung bronchi and the three-dimensional data of the diseased tissue area within the lung bronchi can be extracted by performing image recognition processing on the lung CT image.
  • the data and the three-dimensional data of the diseased tissue area in the lung bronchi are reconstructed to obtain a three-dimensional model of the lung bronchi and a three-dimensional model of the diseased tissue.
  • the interventional component sub-model building module 022 is used to construct a virtual model based on the morphological attribute information of the interventional component 12 to obtain the interventional component submodel.
  • the interventional component submodel is used to characterize the interventional component 12 Three-dimensional space characteristics.
  • the morphological attribute information of the interventional component includes information such as the model and specifications of the interventional component 12
  • the model is constructed based on the model and specification information of the interventional component 12 to obtain the interventional component sub-model.
  • the interventional component sub-model of this application is a three-dimensional model of the interventional component 12 .
  • the fusion module 023 is used to perform spatial fusion processing on the intervention area sub-model, the operation object three-dimensional model and the intervention component sub-model based on the intervention position information and the motion position information, to obtain a navigation three-dimensional model.
  • the fusion module 023 first dynamically matches the intervention position information and motion position information of the intervention component 12 obtained in real time with the coordinates of the intervention component sub-model, obtains the dynamic intervention component sub-model, and then integrates the dynamic intervention component sub-model in real time. Displayed in the static intervention area sub-model, that is, the intervention area sub-model, the three-dimensional operating object model and the intervention component sub-model are spatially fused to obtain the navigation three-dimensional model.
  • the navigation three-dimensional model of this application can visually display the dynamic trajectory and real-time position of the interventional component 12 within the target interventional area, providing vital help in determining the position of the interventional component during the operation.
  • the navigation control device 2 also includes a navigation planning module 024, which is communicatively connected with the navigation three-dimensional model.
  • the navigation planning module 024 is used to perform navigation planning based on the intervention area sub-model and the three-dimensional model of the operation object to obtain the navigation path of the intervention component 12 in the intervention area sub-model.
  • the navigation path is used to instruct the intervention component 12 to arrive in the target intervention area to be ablated. The path of travel required by the object's process.
  • the navigation planning module 024 of this application can perform navigation planning on the movement path of the interventional component 12 in the target interventional area to the object to be ablated based on the interventional area sub-model and the three-dimensional model of the operating object, and obtain the location of the interventional component 12 in the interventional area.
  • the navigation path in the sub-model generates corresponding two-dimensional, three-dimensional and navigation data, and at the same time displays the planned navigation path from the entrance of the interventional component to the object to be ablated in the navigation three-dimensional model.
  • the key points of the planned navigation path can be highlighted in the navigation three-dimensional model, and the operator can control the interventional component 12 to move within the navigation three-dimensional model according to the displayed navigation path, and control the interventional component 12 to arrive at The object to be ablated.
  • the navigation planning module 024 is also used to determine the intervention trajectory information of the intervention component 12 based on the intervention position information and movement position information of the intervention component 12 during the movement of the intervention component 12 in the target intervention area; if the intervention trajectory The path trajectory information corresponding to the information and the navigation path satisfies the preset deviation condition, and the intervention position of the intervention component 12 in the target intervention area is corrected until the updated intervention trajectory information of the intervention component 12 matches the path trajectory information.
  • the real-time intervention trajectory information of the intervention component 12 can be determined based on the intervention position information and movement position information of the intervention component 12.
  • the trajectory key points of the intervention trajectory are generated based on the real-time intervention trajectory information of the intervention component 12, and the trajectory key points are compared with the planned navigation path. Dynamic matching operation is performed on the key points of the path; when the matching degree between the key points of the trajectory and the key points of the planned navigation path meets the preset deviation conditions, the real-time intervention position of the intervention component 12 in the target intervention area is corrected until The real-time intervention trajectory information of the intervention component 12 matches the path trajectory information.
  • the preset deviation condition in this application is whether the deviation between the trajectory key points of the intervention trajectory and the path key points of the planned navigation path exceeds the preset deviation threshold.
  • the deviation threshold is preset, the real-time intervention position of the intervention component 12 in the target intervention area is corrected; when the deviation between the key points of the intervention trajectory and the key points of the planned navigation path is less than or equal to the preset deviation threshold, Then the intervention component 12 is controlled to continue moving along the navigation path.
  • this application can adjust the movement direction of the intervention component 12 at any time during the movement of the intervention component 12 in the target intervention area, thereby preventing the intervention component 12 from deviating from the navigation path and getting lost or getting lost in the direction of the target intervention area. Causes damage to surrounding healthy tissue and improves navigation accuracy.
  • the operator when the navigation path is blurred or blocked in the navigation 3D model, the operator can still determine whether the path ahead is a passage based on the displayed navigation 3D model, and determine whether to continue along the planned path. navigation path movement. For example, when the navigation 3D model of the pulmonary bronchi is blurred or blocked, it is usually caused by the pulmonary mucus in the bronchial passage. Based on the displayed navigation 3D model, the surgeon can determine that the bronchus in front is a passage when it is blocked. You can continue to explore forward and use the viscous characteristics of mucus.
  • the front end of the interventional component 12 When the front end of the interventional component 12 encounters mucus, it will continue to be transported forward for a certain distance according to the guidance of the navigation path, and the mucus can be flushed out, allowing the mucus to flow along the tracheal wall. , instead of being stuck on the front end of the interventional component 12, thereby solving the problem of blurred and disturbed vision and saving operation time.
  • the navigation control device 2 also includes an initial parameter acquisition module 025 and a target parameter determination module 026.
  • the initial parameter acquisition module 025 is used to acquire the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, the adhesion parameters of the interventional component 12 and the dielectric constant of the object to be ablated.
  • the initial ablation parameters at least include At least one of pulse voltage, pulse width, pulse time and pulse frequency.
  • the object attribute information of the object to be ablated in this application includes but is not limited to diseased tissue.
  • This application can determine the tissue characteristics of the current object to be ablated based on the dielectric constant of the object to be ablated. Specifically, different cells have different electroporation thresholds, so the dielectric constants of different tissues are different. The ratio of dielectric constants of different tissues can guide the proportion of different tissues and determine the content of different cells in the tissues.
  • the detection of dielectric constant can use sinusoidal excitation signals with multiple frequencies between 5KHz and 300MHz to stimulate changes in complex impedance electrical signals corresponding to cell tissues under different frequency signals, and then these The signal is converted into a signal in the frequency domain through methods such as Fourier transform to obtain the dielectric constant of the tissue.
  • this application can understand the changes in the content of different types of cells in the bronchial tissue corresponding to the object to be ablated, thereby helping to evaluate the effectiveness of the ablation parameters.
  • the target parameter determination module 026 is configured to use the navigation three-dimensional model, the three-dimensional model of the operating object, the object attribute information of the object to be ablated, the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, and the parameters of the interventional component 12
  • the ablation effect is evaluated based on the adhesion parameters and the dielectric constant of the object to be ablated, and the ablation effect data corresponding to the initial ablation parameters are obtained; if the ablation effect data meets the target ablation conditions, the initial ablation parameters are determined as the target ablation parameters.
  • Figure 28 is a schematic diagram of the simulation, evaluation and display of the lung ablation effect of pulse energy in this application.
  • the impedance data of this application can be used to calculate the pulse energy currently loaded on the object to be ablated.
  • the adhesion parameter of the interventional component 12 can be obtained through the change rate of the impedance, thereby determining the adhesion quality of the interventional component 12 and the object to be ablated.
  • the inner wall diameter of the bronchus can be calculated through the abutment parameters of the interventional component 12, thereby determining the thickness of the bronchial mucosa layer.
  • Figure 29 shows the relationship between the inner diameter of the bronchus and the contact length.
  • the contact length between the interventional component 12 and the bronchus decreases as the inner diameter of the bronchus increases.
  • the relationship between the bronchial inner diameter, ablation range, adhesion parameters, pulse parameters, bronchial thickness and ablation effect can be further obtained through simulation.
  • a point at a central depth of about 0.5 mm at the contact point with the inner wall of the bronchus is selected as a mark point to characterize the ablation effect.
  • the corresponding field strengths are approximately 1220V/cm, 1120V/cm, 900V/cm, 1000V/cm and 1125V/cm.
  • the contact length is about 11.0mm, the field strength is minimum, about 900V/cm.
  • the minimum field strength is not less than 900V/cm, which can meet the threshold field strength to achieve the preset ablation effect without significantly reducing the treatment effect.
  • the central depth of approximately 0.5 mm at the contact point with the inner wall of the bronchus is selected as a mark point to characterize the ablation effect.
  • the corresponding field strengths are approximately 1600V/cm, 1310V/cm, 1120V/cm, 1060V/cm, 1080V/cm and 1200V/cm respectively.
  • the field strength The minimum is about 1060V/cm.
  • the minimum field strength is not less than 1000V/cm, which can meet the preset requirements.
  • the threshold field strength for the ablation effect Obviously, in this application, when the inner diameter of the bronchus decreases or the bronchial wall thickness increases, increasing the contact length between the interventional component 12 and the bronchus will not have a major impact on the ablation effect.
  • the target parameter determination module 026 includes a simulation ablation model building unit 0261.
  • the simulation ablation model building unit 0261 is used to simulate the ablation effect based on the object attribute information, initial ablation parameters, impedance data, adhesion parameters, dielectric constant, three-dimensional model of the operating object and three-dimensional navigation model as the input of the ablation evaluation model, and obtain the initial A simulated ablation model corresponding to the ablation parameters.
  • the simulated ablation model is used to characterize the ablation effect data corresponding to the initial ablation parameters.
  • the simulation ablation model building unit 0261 inputs the object attribute information, initial ablation parameters, impedance data, adhesion parameters, dielectric constant, operating object three-dimensional model and navigation three-dimensional model into the ablation evaluation model to simulate the ablation effect. , obtain the simulation ablation model corresponding to the initial ablation parameters.
  • the ablation evaluation model of this application may be an ablation evaluation database established through pre-simulation data and clinically collected data.
  • the pre-simulated data is the relationship between bronchial diameter, ablation range, adhesion parameters, pulse parameters, bronchial thickness and ablation effect obtained through impedance data simulation.
  • this application can intuitively observe the ablation range and ablation effect of the pulse energy generated based on the initial ablation parameters on the lung tissue, and can intuitively help the operator determine whether the initial ablation parameters need to be adjusted.
  • the ablation effect of pulse energy on lung tissue in the simulation ablation model generated when the pulse voltage amplitude is set to 1500V it can be seen that most areas in the bronchus are ablated.
  • the color distinction of the ablation model can be used to indicate the ablation range and ablation effect of the lung tissue based on different initial ablation parameters, and the operator can adjust the initial ablation parameters according to the simulated ablation model, or This can be used to avoid possible risks.
  • this application The pathological structure diagram of bronchial tissue. From the simulation model shown in Figure 34, we can see the ablation effect of pulse energy generated by prediction of different initial ablation parameters on superficial ablation, partial ablation and complete ablation of the mucosal layer of bronchial tissue.
  • the target ablation conditions include the lung tissue ablation range and ablation effect observed through the simulated ablation model to achieve the required ablation effect, and the dielectric constant of the object to be ablated after ablation meets the preset conditions, that is, ablation
  • ablation The content of different types of cells in the posterior bronchial tissue reached normal tissue standards.
  • this application can input the object attribute information, initial ablation parameters, impedance data, adhesion parameters, dielectric constant, operating object 3D model and navigation 3D model into the ablation evaluation model before ablation to simulate the ablation effect. , obtain a simulated ablation model to indicate the ablation effect before ablation in advance according to the simulated ablation model, and then optimize the initial ablation parameters and ablation times, thereby improving the effectiveness of treatment.
  • the updated object attribute information, ablation parameters, impedance data, sticking parameters, dielectric constant, operating object 3D model and navigation 3D model can also be input into the ablation evaluation model for ablation.
  • the final effect is simulated to help determine whether the ablation is effective.
  • the ablation effect evaluation after ablation can also be used to optimize the ablation evaluation database to help optimization and learning, thereby improving the quality of evaluation.
  • the navigation control device 2 includes a pulse energy generation module 027 .
  • the pulse energy generation module 027 is used to generate an energy generation control signal based on the target ablation parameters to control the operation of the ablation device 4 .
  • the navigation control device 2 also includes an ablation three-dimensional model generation module 028, which is used to obtain the ablation trajectory information and ablation data of the interventional component 12 after the interventional component 12 performs ablation processing on the object to be ablated; according to the ablation trajectory information, ablation data and The target ablation parameters generate a three-dimensional ablation model.
  • the ablation data includes the ablation area and the ablation position information of the ablation area.
  • the three-dimensional ablation model represents the three-dimensional spatial characteristics of the object to be ablated after ablation.
  • the ablation three-dimensional model of this application is used to record the ablation trajectory information and ablation data of the interventional component 12 in the target interventional area.
  • the ablation data includes an ablation area that has been ablated and ablation location information of the ablation area.
  • the ablation data also includes information such as the ablation area that has been ablated by the interventional component 12 and the ablation parameters, ablation time, and ablation status of the ablation area.
  • the ablation trajectory information and ablation data of the interventional component 12, in the "complex" pulmonary bronchi "maze" provide very important data support for the surgeon to determine which parts have been ablated and which parts have not been ablated, and can effectively Improve surgical efficiency and reduce the possibility of repeated ablation.
  • the control circuit of the ablation device 4 of the present application includes a pulse power supply 041, a switching circuit 042 and an output interface 043.
  • the pulse power supply 041 is electrically connected to the switching circuit 042, and the output interface 043 is used to communicate with the interventional device 1
  • the switch circuit 042 includes at least two branch circuits 0421 connected in parallel, full bridge, half bridge or series.
  • Each branch circuit 0421 includes an input switch module 4211 and an output switch module 4212.
  • the switch circuit 042 responds to a pulse
  • the energy generation control signal of the energy generation module 027 controls the corresponding input switch module 4211 and the output switch module 4212 to be turned on to generate pulse energy.
  • the branch circuit 0421 also includes a capacitor module 4213.
  • the capacitor module 4213 includes a plurality of capacitor groups connected in series or in parallel. Among them, each capacitor group can include different types and different numbers of capacitors according to different outputs.
  • each capacitor group can include different types and different numbers of capacitors according to different outputs.
  • the output and capacitance of the pulse energy can also be controlled.
  • the charging of module 4213 is carried out in a time-sharing manner, which improves circuit safety and is more convenient and efficient.
  • the branch circuit 0421 also includes a diode module 4214.
  • the diode module 4214 includes a plurality of diodes, and the plurality of diodes are arranged and combined in forward and reverse directions.
  • the setting of the diode module 4214 enables the state of each switch on the different branch circuits 0421 to be controlled during the charging and discharging process of the switch circuit 042, thereby charging or discharging a specific capacitor, and at the same time, the capacitance of the capacitor group will not be reversely charged during the discharge period. The unnecessary loss of energy in the capacitor bank capacitor is reduced.
  • branch circuit 0421 also includes a filtering module 4215.
  • the filtering module 4215 includes multiple filtering units.
  • the filtering unit includes a variety of filters and a filter selector.
  • the filter selector is used to select different filters for filtering processing.
  • the filtering unit includes one or more of a low-pass filter, a high-pass filter, a band-pass filter, a band-stop filter, and an all-pass filter.
  • the energy generation unit of this application can implement filtering processing by using different filters or different filter combinations. It can produce pulse energy output of different frequencies and shapes. In some possible implementations, by selecting different filters or different filter combinations for filtering processing, pulse energy output of different waveforms or combinations of waveforms such as sine waves, square waves, triangle waves, etc. can be achieved.
  • the branch circuit 0421 may include, but is not limited to, an input switch module 4211, a capacitor module 4213, a diode module 4214, a filter module 4215, and an output switch module 4212.
  • the switching circuit of the ablation device of the present application can realize the amplitude, pulse width, interval, quantity or quantity of pulse energy through the connection of multiple branch circuits 0421 and the control of the corresponding input switch module 4211 and output switch module 4212 on different branch circuits 0421. Several combinations of directions, etc.
  • the control and filtering module 4215 corresponding to the input switch module 4211 and the output switch module 4212 on the branch circuit 0421 By cooperating with the control and filtering module 4215 corresponding to the input switch module 4211 and the output switch module 4212 on the branch circuit 0421, the output of pulse energy of different frequencies and shapes can be achieved.
  • the ablation equipment can have different changes in voltage amplitude, frequency and pulse shape in a set of pulse energy to generate more targeted pulse energy, which not only increases the therapeutic effect but also helps reduce the number of steps in the ablation treatment process. bring about irritation reaction problems and improve the safety of treatment.
  • the steps of applying the ablation system of the present application to treat endobronchial diseases of the lungs include:
  • the collection device collects the intervention position information of the interventional component 12 in the pulmonary bronchi and transmits it to the navigation control device 2;
  • a virtual model is constructed based on lung CT images to obtain a three-dimensional model of the lung bronchi and a three-dimensional model of the diseased tissue; a virtual model is constructed based on the morphological attribute information of the interventional component 12 to obtain an interventional component sub-model; based on the interventional position information and motion position information, the The three-dimensional pulmonary bronchi model, the three-dimensional model of the diseased tissue and the interventional component sub-model are spatially fused to obtain the navigation three-dimensional model;
  • Carry out navigation planning based on the three-dimensional pulmonary bronchus model and the three-dimensional diseased tissue model obtain the navigation path of the interventional component 12 within the pulmonary bronchus three-dimensional model, and generate corresponding two-dimensional and three-dimensional navigation data;
  • the real-time intervention position of the interventional component 12 in the pulmonary bronchi is corrected at any time according to the navigation path until the interventional component 12 reaches the diseased tissue area in the pulmonary bronchi;
  • the expansion degree of the interventional component 12 is controlled by the operating component 17 on the operating handle 16, so that the interventional component 12. Evenly adhere to the diseased tissue;
  • the target ablation parameters if the ablation effect data corresponding to the initial ablation parameters meets the target ablation conditions, determine the target ablation parameters
  • the ablation device 4 controls the corresponding switch circuit 042 to turn on in response to the energy generation control signal to generate pulse energy;
  • the ablation trajectory information and ablation data of the interventional component 12 are obtained, and a three-dimensional ablation model is generated based on the ablation trajectory information, ablation data and target ablation parameters.
  • Figure 37 is a flow chart of an object ablation control method. The method includes:
  • S101 Receive the movement position information of the target object collected by the first position acquisition device and the intervention position information of the intervention component in the target intervention area collected by the second position acquisition device.
  • the target intervention area belongs to the target object.
  • S102 Construct a virtual model based on the regional image information of the target intervention area, the morphological attribute information of the intervention component, the motion position information and the intervention position information, and obtain the navigation three-dimensional model and the three-dimensional model of the operating object.
  • the navigation three-dimensional model is used to characterize the target intervention area.
  • the three-dimensional model of the operating object is used to characterize the three-dimensional spatial characteristics of the object to be ablated.
  • S103 Determine the target ablation parameters corresponding to the object to be ablated based on the navigation 3D model, the 3D model of the operating object and the object attribute information of the object to be ablated.
  • S104 Control the ablation device to operate based on the target ablation parameters, so that the intervention component performs ablation processing on the object to be ablated.
  • step S102 also includes:
  • S1021 Perform image recognition processing on the regional image information of the target intervention area to obtain image recognition results; and perform image reconstruction based on the image recognition results to obtain the intervention area sub-model and the three-dimensional model of the operating object.
  • the intervention area sub-model is used to characterize the three-dimensional spatial characteristics of the target intervention area.
  • S1022 Construct a virtual model based on the morphological attribute information of the interventional component to obtain a submodel of the interventional component.
  • the submodel of the interventional component is used to characterize the three-dimensional spatial characteristics of the interventional component.
  • S1023 According to the intervention position information and motion position information, perform spatial fusion processing on the intervention area sub-model, the three-dimensional model of the operating object and the intervention component sub-model to obtain a navigation three-dimensional model.
  • step S102 also includes:
  • S1024 Carry out navigation planning based on the intervention area sub-model and the three-dimensional model of the operating object, and obtain the navigation path of the intervention component within the intervention area sub-model.
  • the navigation path is used to indicate the required path for the intervention component to reach the object to be ablated in the target intervention area. path of travel.
  • step S102 also includes:
  • S1025 During the movement of the intervention component in the target intervention area, determine the intervention trajectory information of the intervention component based on the intervention position information and movement position information of the intervention component; if the intervention trajectory information and the path trajectory information corresponding to the navigation path meet the preset deviation conditions , the intervention position of the intervention component in the target intervention area is corrected, and the updated intervention trajectory information of the intervention component matches the path trajectory information.
  • step S103 also includes:
  • the initial ablation parameters at least include pulse voltage, pulse width, At least one of the number of pulses and the number of pulse groups.
  • step S103 also includes:
  • step 104 also includes:
  • S1041 Generate an energy generation control signal based on the target ablation parameters to control the operation of the ablation equipment.
  • the object ablation control method also includes:
  • S105 After the interventional component ablates the object to be ablated, obtain the ablation trajectory information and ablation data of the interventional component; generate a three-dimensional ablation model based on the ablation trajectory information, ablation data and target ablation parameters.
  • the ablation data includes the ablation area and the ablation process that has been ablated.
  • the ablation position information of the ablation area, and the ablation three-dimensional model represents the three-dimensional spatial characteristics of the object to be ablated after ablation.
  • This application also provides an object ablation control device, which may include the following modules.
  • Information receiving module used to receive the movement position information of the target object collected by the first position acquisition device and the intervention position information of the intervention component in the target intervention area collected by the second position acquisition device, and the target intervention area belongs to the target object;
  • Model building module used to build a virtual model based on the regional image information of the target intervention area, the morphological attribute information of the intervention component, the motion position information and the intervention position information, to obtain the navigation three-dimensional model and the three-dimensional model of the operating object, and the navigation three-dimensional model is used for characterization The three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention components, and the spatial position information between the object to be ablated, the intervention component, and the target intervention area.
  • the three-dimensional model of the operating object is used to characterize the three-dimensional spatial characteristics of the object to be ablated;
  • Parameter determination module used to determine the target ablation parameters corresponding to the object to be ablated based on the navigation 3D model, the 3D model of the operating object and the object attribute information of the object to be ablated;
  • Object control module used to control the ablation equipment to operate based on the target ablation parameters, so that the interventional component performs ablation processing on the object to be ablated.
  • model building blocks include:
  • the intervention area sub-model building module is used to perform image recognition processing on the regional image information of the target intervention area to obtain image recognition results; and perform image reconstruction based on the image recognition results to obtain the intervention area sub-model and the three-dimensional model of the operation object.
  • the intervention area The sub-model is used to characterize the three-dimensional spatial characteristics of the target intervention area.
  • the interventional component sub-model building module is used to construct a virtual model based on the morphological attribute information of the interventional component to obtain the interventional component submodel.
  • the interventional component submodel is used to characterize the three-dimensional spatial characteristics of the interventional component.
  • the fusion module is used to perform spatial fusion processing on the intervention area sub-model, the three-dimensional model of the operating object and the intervention component sub-model based on the intervention position information and the motion position information to obtain the navigation three-dimensional model.
  • model building module also includes a navigation planning module, a navigation planning module and a navigation 3D module.
  • Model communication connection :
  • the navigation planning module is used to perform navigation planning based on the intervention area sub-model and the three-dimensional model of the operating object, and obtain the navigation path of the intervention component within the intervention area sub-model.
  • the navigation path is used to instruct the intervention component to arrive at the object to be ablated in the target intervention area.
  • the desired path of travel is used to instruct the intervention component to arrive at the object to be ablated in the target intervention area.
  • the navigation planning module is also used to determine the intervention trajectory information of the intervention component based on the intervention position information and movement position information of the intervention component during the movement of the intervention component in the target intervention area; if the intervention trajectory information corresponds to the navigation path, The trajectory information satisfies the preset deviation conditions, and the intervention position of the intervention component in the target intervention area is corrected until the updated intervention trajectory information of the intervention component matches the path trajectory information.
  • the parameter determination module includes:
  • the initial parameter acquisition module is used to obtain the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, the attachment parameters of the interventional component, and the dielectric constant of the object to be ablated.
  • the initial ablation parameters at least include pulse voltage. , at least one of pulse width, pulse number and pulse group number;
  • the target parameter determination module is used to determine the target parameters based on the navigation 3D model, the 3D model of the operating object, the object attribute information of the object to be ablated, the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, and the attachment of the interventional component.
  • the ablation effect is evaluated based on the parameters and the dielectric constant of the object to be ablated to obtain the ablation effect data corresponding to the initial ablation parameters; if the ablation effect data meets the target ablation conditions, the initial ablation parameters are determined as the target ablation parameters.
  • the target parameter determination module also includes:
  • the simulation ablation model building unit is used to simulate the ablation effect based on the object attribute information, initial ablation parameters, impedance data, adhesion parameters, dielectric constant, three-dimensional model of the operating object and three-dimensional navigation model as the input of the ablation evaluation model, and obtain the initial A simulated ablation model corresponding to the ablation parameters.
  • the simulated ablation model is used to characterize the ablation effect data corresponding to the initial ablation parameters.
  • the object control module includes:
  • the pulse energy generation module is used to generate energy generation control signals based on target ablation parameters to control the operation of the ablation equipment.
  • the object ablation control device further includes:
  • the ablation three-dimensional model generation module is used to obtain the ablation trajectory information and ablation data of the interventional component after the interventional component ablates the object to be ablated; based on the ablation trajectory information, ablation data and target
  • the ablation three-dimensional model is generated by standard ablation parameters.
  • the ablation data includes the ablation area and the ablation position information of the ablation area.
  • the ablation three-dimensional model represents the three-dimensional spatial characteristics of the object to be ablated after ablation.
  • the subject ablation system, control method, device, medium and electronic device of this application also provide a pulse ablation effect evaluation method and device which can be applied to ablation treatment of lung tissue.
  • the present application is not limited thereto.
  • the technical solutions provided by the embodiments of the present application can also ablate other body parts, such as the stomach.
  • the following uses lung ablation as an example to describe the embodiments of the present application.
  • FIG 38 is a flow chart of the pulse ablation effect evaluation method provided by the embodiment of the present application. As shown in Figure 38, the pulse ablation effect evaluation method provided by the present application may include the following steps:
  • a three-dimensional navigation system and an endoscope are used together.
  • the three-dimensional navigation system is used to model the lung bronchi during the operation and construct a lung model during the current operation.
  • the operator can observe the overall bronchi structure and direction of the lungs from the navigation interface.
  • the position and internal conditions of the bronchi in the lungs can be visually observed through the endoscope. In this way, not only can the overall bronchi structure and direction of the lungs be observed, but also the position and internal conditions of the bronchi in the lungs can be observed. Compared with the existing technology, the situation of the lungs can be understood more comprehensively.
  • the embodiment of the present application is also equipped with the function of prediction and ablation navigation.
  • the doctor can input the initial parameters and enter the lungs through the catheter with the endoscope.
  • the catheter predicts the depth and location of the ablation based on the input parameters and the current tracheal thickness and position. The range is presented to the doctor for his reference and parameter adjustment.
  • Figure 39 is a connection block diagram of the pulse ablation effect evaluation system provided by the embodiment of the present application.
  • the ablation catheter is connected to the pulsed electric field ablation device through the pulse output circuit and the electrode circuit respectively, and the pulsed electric field ablation device is connected to the pulsed electric field ablation device through the communication loop and the electrode circuit respectively.
  • the electrode circuit is connected to the three-dimensional navigation system, and the ablation catheter and the patient are connected through consumables.
  • Figure 40 is a schematic block diagram of the pulse ablation effect evaluation method provided by the embodiment of the present application.
  • the three-dimensional navigation system collects data through magnetic positioning.
  • the ablation catheter determines the current tissue impedance and the catheter's adhesion status through impedance/adhesion detection, determines the inner wall diameter of the tissue through the opening and adhesion range of the basket, and determines the current tissue characteristics by collecting dielectric constants.
  • the information obtained from the dielectric constant can be used to obtain some characteristics of the corresponding tissue, because different cells have different electroporation thresholds, which can then be used to evaluate whether the ablation energy can meet the requirements.
  • the ablation catheter transmits the collected impedance, dielectric constant and basket data to the pulsed electric field ablation system, and together with the ablation parameters set by the pulsed electric field ablation system, is input into the ablation status assessment model for calculation;
  • the three-dimensional navigation system can perform data interaction with the pulse ablation device; the three-dimensional navigation system can generate a three-dimensional model of the current tissue required for ablation effect evaluation, where the current tissue can be lung bronchial tissue.
  • the data to be evaluated includes detection data collected by the ablation catheter, ablation parameters of the ablation device, and basket status data;
  • the ablation parameters include one or more of pulse voltage, pulse width, pulse number and pulse group number.
  • the basket status data includes the basket opening status data and the contact area between the basket and the current tissue.
  • the basket opening status data and the contact area are used to determine the thickness of the area to be ablated.
  • the diameter of the inner wall of the bronchus can be determined by the opening size and contact area of the basket (that is, the inner diameter of the bronchus, not the outer diameter of the bronchus, which contains cartilage), thereby obtaining the thickness of the bronchial mucosa layer, here
  • the area to be ablated is the mucosal layer.
  • Bronchial tubes are mainly divided into: epithelial cells (pseudostratified with cilia, goblet cells sandwiched between the pseudostratified layers, and goblet cells secrete a small amount of mucus); lamina basement (basement membrane and loose connective tissue) Together with epithelial cells and lamina basement, it constitutes the mucosa); the bottom layer of the mucosa (smooth muscle & more connective tissue).
  • the mucus glands located in the connective tissue are where most of the mucus is secreted.
  • the pulse ablation target is mainly to ablate the mucus glands and goblet cells in the mucosal layer.
  • S130 Input the data to be evaluated into the pre-trained ablation status evaluation model to obtain the ablation status evaluation results; the ablation status evaluation model can calculate the ablation corresponding to the data to be evaluated based on the data to be evaluated and the correspondence between the data to be evaluated and the ablation status.
  • Status assessment results; ablation status assessment results include ablation range, ablation depth, and ablation effectiveness.
  • the effectiveness of ablation can be judged by comparing the dielectric constant before and after ablation, because the thresholds of different cell tissues under electroporation are different, and understanding the content of different types of cells in bronchial tissue can help evaluate How effective are the parameters of ablation.
  • Pulmonary ablation mainly ablates abnormal tissues (such as goblet cells and mucus glands) in the bronchial mucosa layer, so the ablation status assessment is input through simulation data, impedance/adhesion data, dielectric parameters, and the currently set ablation parameters. model, which can effectively evaluate the ablation effect.
  • the simulation data is the relationship data between bronchial inner diameter, ablation range, adhesion parameters, pulse parameters, bronchial thickness and ablation effect obtained through impedance data simulation.
  • the evaluation process can be performed before ablation, so that the effect before ablation can be indicated in advance, and the surgeon can be guided on the parameters and frequency of ablation. Of course, it can also be done after ablation, so that the surgeon can help determine whether the ablation is effective. Moreover, after ablation, re-mapping and evaluation can be carried out to determine the scope and effect of ablation for optimization, thereby improving the effectiveness of treatment.
  • S140 Display the ablation status assessment results in the three-dimensional model of the current tissue.
  • the post-ablation evaluation of the ablation parameters can be indicated in the three-dimensional system based on the bronchial pathological structure diagram shown in Figure 33 through the color distinction of the ablation model. After obtaining the ablation range prediction map as shown in Figure 34, the surgeon can understand at a glance based on the model, and can use this to optimize the ablation data or avoid possible risks.
  • the data to be evaluated is input into a pre-trained ablation state assessment model, and after the ablation state assessment result is obtained, the process includes:
  • the ablation status evaluation model can continuously optimize and learn after each ablation, because the feedback range, impedance adhesion information, dielectric parameters, and ablation parameters will be updated to a certain extent after pulse ablation, and can be This optimizes the ablation state assessment model to improve the quality of assessment.
  • the method before inputting the data to be evaluated into the pre-trained ablation state evaluation model, the method includes:
  • sample data can be data obtained through pre-simulation including the data to be evaluated, the ablation status, and the correspondence between the data to be evaluated and the ablation status, or it can be clinically collected data including the data to be evaluated, the ablation status, and the data to be evaluated.
  • Data that evaluates the correspondence between data and ablation status can also be a combination of simulation data and clinically collected data, which can increase the number of samples and reduce the workload of collecting sample data.
  • this model training process can be completed at the same time as the three-dimensional navigation system performs navigation mapping modeling through the catheter.
  • the ablation state assessment model may be a machine learning model, specifically a neural network model.
  • Figure 41 is this An example of the ablation status evaluation model provided by the application embodiment is shown in Figure 41.
  • the ablation status evaluation model uses a full neural network (such as Tensorflow) as the main algorithm, and selects Encode and Decode as the neural network machine learning
  • the framework uses three functions, Sigmold, Relu and Softmax, as the activation functions of each layer of the network.
  • the neural network model uses a fully connected neural network, with a total of five layers: the network structure is divided into four types: input layer, hidden layer, dropout layer, and output layer.
  • the entire neural network uses three functions, sigmold, relu and softmax, as the activation functions of each layer of the network.
  • the loss function is cross entropy.
  • the model input and output are (1*4) corresponding to (1*4).
  • the ablation status assessment results are displayed in a three-dimensional model of the current tissue, including:
  • the display color corresponding to the ablation status evaluation result is determined based on the ablation status evaluation result and the corresponding relationship between the ablation status evaluation result and the display color; preferably, different ablation status corresponds to different display colors, so that the ablation status of each region can be intuitively reflected.
  • the correspondence between the ablation status and the display color is preferably displayed in the form of a legend.
  • the ablation status evaluation results and/or the display color corresponding to the ablation status are displayed in the three-dimensional model of the current tissue; the ablation status evaluation results include ablation range, ablation depth, and ablation effectiveness.
  • the effect of ablation can be represented by different color changes, allowing doctors to intuitively observe the scope and effect of lung tissue ablation, and intuitively helping doctors judge whether ablation parameters need to be adjusted.
  • the detection data includes impedance signals
  • the data to be evaluated includes:
  • the frequency range of the first signal is a first preset frequency range; the first preset frequency range is preferably 2KHz to 200KHz;
  • the return signal is filtered to convert the return signal into an impedance signal.
  • the impedance detection method may adopt one or more of time-sharing switching detection, fusion extraction detection, and frequency division switching detection.
  • the impedance signal can indicate the current load situation. Together with the impedance signal and ablation parameters such as pulse voltage, pulse width, number of pulses, number of pulse groups, etc., the energy currently loaded into the tissue can be calculated. The contact quality and area can also be judged by the change rate of impedance. The size of the abutment area can determine the quality of ablation.
  • the detection data includes the dielectric constant signal
  • the data to be evaluated includes:
  • the sinusoidal excitation signal is applied to the current tissue through the electrode of the ablation catheter; the frequency range of the sinusoidal excitation signal is the second preset frequency range; the second preset frequency range is preferably 5KHz ⁇ 300MHz.
  • the detection of dielectric constant utilizes the generation of sinusoidal excitation signals with multiple frequencies from 5KHz to 300MHz to stimulate changes in complex impedance electrical signals corresponding to cell tissue under different frequency signals. These signals are converted into frequency domain signals through wavelet transform, Fourier transform and other methods.
  • the dielectric constants of different tissue parameters are different. Different dielectric constant ratios can guide the proportion of different tissues and determine the content of cells. Because the thresholds of different cell tissues under electroporation are different, understanding the content of different types of cells in bronchial tissue can help evaluate the effectiveness of ablation parameters.
  • the relationship between the inner diameter of the bronchus and the product contact length can be obtained experimentally. According to this data, the corresponding relationship between the data to be evaluated and the ablation status can be further obtained through simulation.
  • the corresponding relationship between the data to be evaluated and the ablation status is preferably the relationship between the ablation status, adhesion data, pulse parameters, and bronchial thickness.
  • Ablation status includes ablation range and ablation depth.
  • FIG 42 is a structural block diagram of a pulse ablation effect evaluation device provided by an embodiment of the present application.
  • the pulse ablation effect evaluation device proposed by an embodiment of the present application may include the following modules:
  • the three-dimensional modeling module 210 is used to perform mapping and modeling of the current tissue at the ablation catheter to obtain a three-dimensional model of the current tissue;
  • the data acquisition module 220 is used to acquire data to be evaluated; the data to be evaluated includes detection data collected by the ablation catheter, ablation parameters of the ablation device, and basket status data;
  • the state evaluation module 230 is used to input the data to be evaluated into a pre-trained ablation state evaluation model to obtain the ablation state evaluation results; the ablation state evaluation model can calculate the data to be evaluated based on the data to be evaluated and the corresponding relationship between the data to be evaluated and the ablation state. The ablation status evaluation results corresponding to the evaluation data;
  • the result display module 240 is used to display the ablation status evaluation results in the three-dimensional model of the current tissue.
  • the device further includes a feedback module, which includes a sample data update module and a model update module.
  • the sample data update module is used to save the data to be evaluated and the ablation status evaluation results into the sample data to obtain updated sample data;
  • the model update module is used to train and update the ablation state assessment model based on the updated sample data.
  • the device further includes a model training module, the model training module includes the number of samples Data acquisition module and parameter adjustment module;
  • the sample data acquisition module is used to obtain sample data before inputting the data to be evaluated into the pre-trained ablation state evaluation model
  • the parameter adjustment module is used to train a pre-built machine learning model using sample data, and adjust the parameters of the machine learning model during the training process until the ablation state assessment results output by the machine learning model meet the requirements; save the machine learning model as ablation state assessment Model.
  • the results display module 240 includes:
  • the display color determination module is used to determine the display color corresponding to the ablation state evaluation result based on the ablation state evaluation result and the corresponding relationship between the ablation state evaluation result and the display color;
  • a display module is used to display the ablation status evaluation results and/or the display color corresponding to the ablation status in the three-dimensional model of the current tissue; the ablation status evaluation results include ablation range and ablation depth.
  • the detection data includes impedance signals
  • the data acquisition module 220 includes:
  • the first signal loading module is used to load the first signal to the electrode of the ablation catheter; the frequency range of the first signal is the first preset frequency range;
  • the rotation signal acquisition module is used to collect the return signal after the first signal acts on the electrode
  • the signal conversion module is used to filter the return signal to convert the return signal into an impedance signal.
  • the detection data includes a dielectric constant signal
  • the data acquisition module 220 includes:
  • the second signal loading module is used to apply the sinusoidal excitation signal to the current tissue through the electrode of the ablation catheter; the frequency range of the sinusoidal excitation signal is the second preset frequency range;
  • the dielectric constant acquisition module is used to obtain the complex impedance electrical signal returned after sinusoidal excitation signals of different frequencies act on the current tissue, and use the complex impedance electrical signal as the dielectric constant signal.
  • the navigation control device and the ablation device of the object ablation system of the present application can run on a terminal or a server, including a processor and a memory. At least one instruction or at least one program is stored in the memory. The at least one instruction or the at least one program is processed by the The processor is loaded and executed to implement the object ablation control method and pulse ablation effect evaluation method as provided in the above method embodiment.
  • the memory can be used to store software programs and modules, and the processor executes various functional applications and object ablation operations by running the software programs and modules stored in the memory.
  • the memory may mainly include a stored program area and a stored data area, where the stored program area may store operating system and data required for functions. Applications, etc.; the storage data area can store data created based on the use of the device, etc.
  • the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide the processor with access to the memory.
  • FIG 43 is a hardware structure block diagram of an electronic device of an object ablation control method provided by an embodiment of the present application.
  • the electronic device 1000 may vary greatly due to different configurations or performance, and may include one or more central processing units (Central Processing Units, CPU) 1100 (the processor 1100 may include but is not limited to a microprocessor).
  • CPU Central Processing Unit
  • a processing device such as a processor MCU or a programmable logic device FPGA), a memory 1300 for storing data, and one or more storage media 1200 (such as one or more mass storage devices) that stores application programs 1230 or data 1220.
  • the memory 130 and the storage medium 1200 may be short-term storage or persistent storage.
  • the program stored in the storage medium 1200 may include one or more modules, and each module may include a series of instruction operations in the electronic device.
  • the central processing unit 1100 may be configured to communicate with the storage medium 1200 and execute a series of instruction operations in the storage medium 1200 on the electronic device 1000 .
  • the electronic device 1000 may also include one or more power supplies 1600, one or more wired or wireless network interfaces 1500, one or more input and output interfaces 1400, one or more displays 1700, and/or, one or more operating systems. 1210, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
  • the input/output interface 140 may be used to receive or send data via a network.
  • the above-mentioned specific example of the network may include a wireless network provided by the communication provider of the electronic device 1000 .
  • the input and output interface 1400 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station to communicate with the Internet.
  • the input and output interface 1400 may be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly.
  • RF Radio Frequency
  • the display 1700 can be used to display electronic files on a screen through a specific transmission device and then reflect them to human eyes.
  • the display 1700 of the present application can be used for interface display, data management display, endoscopic image display, two-dimensional image display, three-dimensional image display, combination and multi-dimensional display of several two-dimensional images and three-dimensional images, etc.
  • electronic device 1000 may also include more or fewer components than shown in FIG. 43 , or have a different configuration than shown in FIG. 43 .
  • Embodiments of the present application also provide a computer-readable storage medium.
  • the storage medium can be disposed in an electronic device to store at least one instruction or at least a program related to implementing an object ablation control method in the method embodiment.
  • the at least one instruction or the at least one program is loaded and executed by the processor to implement the object ablation control method and the pulse ablation effect evaluation method provided by the above method embodiments.
  • the above-mentioned storage medium may be located in at least one network server among multiple network servers of the computer network.
  • the above-mentioned storage media may include but are not limited to: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk Or various media such as CDs that can store program code.
  • a computer program product or computer program includes computer instructions stored in a computer-readable storage medium.
  • the processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above various optional implementations.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Otolaryngology (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Data Mining & Analysis (AREA)
  • Databases & Information Systems (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Surgical Instruments (AREA)

Abstract

本发明公开了一种对象消融系统、控制方法、装置、介质及电子设备，其中，导航控制设备用于基于目标介入区域的区域图像信息、介入组件的形态属性信息、运动位置信息和介入位置信息进行虚拟模型构建，得到导航三维模型和操作对象三维模型，导航三维模型用于表征目标介入区域的三维空间特征、介入组件的三维空间特征，以及待消融对象、介入组件与目标介入区域间的空间位置信息；导航控制设备还用于确定待消融对象对应的目标消融参数，并控制消融设备基于目标消融参数运行，以使介入组件对待消融对象进行消融处理。应用本发明对象消融系统能够提高手术准确性、效率、治疗效果和治疗安全性。

Description

一种对象消融系统、控制方法、装置、介质及电子设备 技术领域
本发明涉及医疗器械技术领域，具体涉及一种对象消融系统、控制方法、装置、介质及电子设备。
背景技术
现有的消融手段主要采用射频消融、微波消融、冷冻消融和聚焦超声消融等热消融技术。射频消融的根本原理是热疗，是通过一种高频电磁波，由交变电场和磁场组成，以375kHz至500kHz的射频波产生的能量从发射器至治疗电极针经负极板在人体形成闭合回路。电极针周围的离子受到交变电流的激发而发生碰撞、摩擦形成热量，当热量超过肿瘤组织的耐受程度时肿瘤细胞会发生凝固性坏死，肿瘤周围的小血管因为受热损伤而闭塞，从而阻断肿瘤血供。在操作过程中，因为肿瘤组织瞬间产生大面积凝固性坏死，导致实时超声下病变边界完全模糊。因此，在判断是否完全消融时，难以界定消融范围与病灶边缘的距离，且可能引起皮肤瘀斑、皮肤烧伤、肌肉灼伤、续发性脂肪坏死、伤口感染等并发症。
微波消融主要有两种方式：聚焦微波相控阵热疗法(FMPA)和经皮微波热凝固(PMC)。FMPA微波通过组织和细胞内水分子的快速搅动产生介电热，导致热诱导的凝固性坏死。PMC是将可发射微波能量的探针直接插入肿瘤内部，从而可在短时间内产生使蛋白质变性或细胞凝固性坏死的高温。主要作用机理是因为癌细胞的水分高于正常细胞的水分，所以在微波作用下癌细胞会产生更多热从而将细胞凝固性坏死，但仍会有皮肤烧伤的周围组织热损伤的现象发生。
激光消融主要是将尖端激光纤维插入肿瘤中，通过激光光子与组织之间产生热效应，提高组织温度并产生热消融区域，但可能对周围血管和神经组织造成永久损伤，同样也会造成消融不彻底或过度消融的现象。
高强度聚焦超声消融(HIFU)是一种非侵入性无创消融技术，其不需要在肿瘤部位微创放置导管或探针。通过将高能量的超声聚焦，HIFU在焦点处达到很高的声强，使声能迅速被肿瘤组织吸收并转化为热能，局部温度瞬间升高至 65℃以上，使靶区蛋白质变性、细胞凝固性坏死，而超声束经过的正常组织及靶区周围组织不产生损伤或损伤很小。但HIFU治疗过程中要求靶区组织尽可能维持静止状态、减少移动，否则容易造成治疗脱靶，从而不能实现完全消融；其次，虽然对肿瘤边缘扩大范围的消融可实现根治性治疗，但消融范围增加的同时也增加了内组织损伤的风险。
冷冻消融是将冷冻探针置于肿瘤中心，使肿瘤细胞温度迅速下降至冰点以下，在反复冻融的过程中，造成肿瘤细胞膜破裂、细胞器损伤，最终导致肿瘤细胞死亡。但是未被直接冷冻伤致死的细胞也可能继发细胞凋亡，同时冷冻消融还可能诱导局部微血管破坏引起血流淤滞。
以上的消融原理主要是通过组织周围温度的变化达到组织细胞坏死的目的。例如，US14023328、US15099665、CN202011501204.5等。但是当出现热沉效应时，热消融技术很容易导致消融区域的神经、淋巴、血管等健康组织受损。例如，部分厂家通过射频消融技术来消融肺部疾病，比如慢性支气管炎，通过消融气管软骨周围的平滑肌来实现气管扩张，增加通气量的作用，但此方法同样属于热消融技术，通过高温使细胞蛋白质变质，从而实现组织坏死，很难控制消融范围容易导致血管和神经等健康组织受损。而且气管主要是由软骨和平滑肌支撑起来的，因此，假使平滑肌过度消融，该方法还容易造成软骨无法支撑，而使气管塌陷造成更严重的后果。
采用不可逆电穿孔理论进行治疗的脉冲电场消融技术作为一项非热消融技术日渐得到了临床应用的关注。脉冲电场消融技术是通过产生一种脉宽为毫秒、微秒甚至纳秒级的高压脉冲电场，在短时间内释放极高的能量，其能使细胞膜甚至是细胞内的细胞器如内质网、线粒体、细胞核等会产生大量的不可逆的微孔。进而造成病变细胞的凋亡，从而达到预期的治疗目的。在治疗慢阻肺的应用中，采用脉冲电场消融技术可以选择性的处理肺部炎性细胞，而不对其他非靶的细胞组织产生影响，同时其还具有彻底的全层消融、精准、快速、保护血管、神经、软骨的特点。同时脉冲电场消融技术由于不受热池效应的影响，可以多次进行叠加消融，进而能够极大增强消融深度。
在目前的消融治疗中，利用外科手术切开周围组织，使肿瘤完全暴露并进行穿刺消融和切除方式对人体的创伤较大，切口愈合时间长，还伴随着创口感染的风险，因此微创介入治疗已经成为了医学界较为标准的手术方法。在采用 介入方式对目标病灶区域进行活检或消融病灶时，确定介入设备在目标对象体内的位置对于准确实施手术是至关重要的。现有确定介入设备在目标对象体内准确位置的方法包括通过内窥镜图像来观察和运用透视影像来识别。在实际使用过程中，例如，对肺部病灶的治疗，由于肺支气管解剖结构呈现多级分支分叉，仅通过支气管内窥镜的图像无法识别和记录介入设备在支气管内的准确位置，且受限于支气管内窥镜的外径，内窥镜无法到达更为细小的支气管分支，因此无法为介入设备提供图像方面的帮助。在手术过程中，因为透视影像对人体有一定的损害，所以不能一直采用透视影像来观察，而且透视影像对肺支气管的图像并不清晰，因此无法从三维角度确定介入设备在图像中的位置。对于类似肺部支气管的复杂区域的介入治疗，术者在操控介入设备时容易在“复杂分叉”的肺支气管内“迷路”，从而影响了手术的准确性和效率，增加了术者的工作强度。
现有的对肺部疾病的治疗中，例如，CN201810310511.1，需采用CT成像技术来辅助引导消融头穿过支气管分支到达肿瘤，会使患者和术者接受大量射线。CN201580060018.3需先对目标附近的组织进行标记，通过荧光透视图像和CT图像配合定位，定位方法复杂、准确性低，且采用微波消融装置进行消融治疗。CN202010113062.9需采用深度相机和磁定位仪相配合的融合定位的方法定位消融针的位置，定位实时性和可视性差。CN109788979A，采用脉冲电场消融技术，但其在介入和能量输送过程中，并不能确定介入设备在治疗区域内的准确位置，且只能基于已实施状况的反馈进行控制参数修正，致使脉冲能量消融的准确性、实时性差和对病灶区针对性差等问题。US13538947、CN201711006154.1等提供了探针式消融头以对狭窄的肺部区域组织进行治疗，但是探针式消融头不能与病灶组织形成很好的贴合，消融面积较小。
现有的介入设备大多具有体积较大、连接可靠性差、弯曲灵活性差、无法到达更远、更狭窄的支气管分支，且无法与病灶组织很好贴靠，大大影响了手术的准确性、效率和治疗效果，且容易对患者造成损伤的问题。
基于现有技术的缺点，需要提供一种采用微创介入治疗方式，能够在复杂的治疗区域中导航和确定介入器械的准确位置，使介入器械能够精准到达治疗区域与病变组织均匀贴靠，同时采用脉冲电场消融技术生成更精确的脉冲能量对病变组织进行针对性治疗的综合系统。
发明内容
为了解决现有技术中对象消融系统不能在复杂区域内导航介入设备，使其精准到达目标治疗位置，与病灶组织均匀贴靠，且消融设备发送的消融能量对组织的消融范围不可控，容易导致健康组织受损，影响手术的准确性、效率和治疗效果的问题，本申请提供了一种对象消融系统、控制方法、装置、介质及电子设备。
一方面本申请提供了一种对象消融系统，包括介入设备、导航控制设备、第一位置采集装置和消融设备；所述介入设备包括第二位置采集装置和介入组件；所述第一位置采集装置、所述第二位置采集装置、所述介入组件和所述消融设备分别与所述导航控制设备通信连接；
所述第一位置采集装置用于采集目标对象的运动位置信息，并传输至所述导航控制设备；
所述第二位置采集装置用于采集所述介入组件在目标介入区域中的介入位置信息，并传输至所述导航控制设备，所述目标介入区域属于所述目标对象；
所述导航控制设备用于基于所述目标介入区域的区域图像信息、所述介入组件的形态属性信息、所述运动位置信息和所述介入位置信息进行虚拟模型构建，得到导航三维模型和操作对象三维模型，所述导航三维模型用于表征所述目标介入区域的三维空间特征、所述介入组件的三维空间特征，以及待消融对象、所述介入组件与所述目标介入区域间的空间位置信息，所述操作对象三维模型用于表征所述待消融对象的三维空间特征；
所述导航控制设备还用于根据所述导航三维模型、所述操作对象三维模型和所述待消融对象的对象属性信息，确定所述待消融对象对应的目标消融参数；并控制所述消融设备基于所述目标消融参数运行，以使所述介入组件对所述待消融对象进行消融处理。
进一步地，所述导航控制设备包括：
介入区域子模型构建模块，用于对所述目标介入区域的区域图像信息进行图像识别处理，得到图像识别结果；并基于所述图像识别结果进行图像重构，得到介入区域子模型和所述操作对象三维模型，所述介入区域子模型用于表征所述目标介入区域的三维空间特征；
介入组件子模型构建模块，用于根据所述介入组件的形态属性信息进行虚拟模型构建，得到介入组件子模型，所述介入组件子模型用于表征所述介入组件的三维空间特征；
融合模块，用于根据所述介入位置信息和所述运动位置信息，对所述介入区域子模型、所述操作对象三维模型和所述介入组件子模型进行空间融合处理，得到所述导航三维模型。
进一步地，所述导航控制设备还包括导航规划模块，所述导航规划模块与所述导航三维模型通信连接：
所述导航规划模块用于根据所述介入区域子模型、所述操作对象三维模型进行导航规划，得到所述介入组件在所述介入区域子模型内的导航路径，所述导航路径用于指示所述介入组件在所述目标介入区域内抵达所述待消融对象过程中所需途径的行进路径。
进一步地，所述导航规划模块还用于在所述介入组件在所述目标介入区域的运动过程中，基于所述介入组件的介入位置信息和所述运动位置信息确定所述介入组件的介入轨迹信息；若所述介入轨迹信息与所述导航路径对应的路径轨迹信息满足预设偏差条件，对所述介入组件在所述目标介入区域中的介入位置进行修正，至所述介入组件的更新的介入轨迹信息与所述路径轨迹信息相匹配。
进一步地，所述导航控制设备还包括初始参数获取模块和目标参数确定模块，
所述初始参数获取模块用于获取所述待消融对象的对象属性信息所对应的初始消融参数、所述待消融对象的阻抗数据、所述介入组件的贴靠参数和所述待消融对象的介电常数，所述初始消融参数至少包括脉冲电压、脉冲宽度、脉冲个数和脉冲组数中的至少一个；
目标参数确定模块用于根据所述导航三维模型、所述操作对象三维模型、所述待消融对象的对象属性信息、所述待消融对象的对象属性信息所对应的初始消融参数、所述待消融对象的阻抗数据、所述介入组件的贴靠参数和所述待消融对象的介电常数进行消融效果评估，得到所述初始消融参数对应的消融效果数据；若所述消融效果数据满足目标消融条件，将所述初始消融参数确定为所述目标消融参数。
进一步地，所述介入设备包括贴靠检测装置和介电常数检测装置，所述贴靠检测装置和所述介电常数检测装置分别与所述导航控制设备通信连接；
所述贴靠检测装置用于检测所述待消融对象的阻抗数据以及所述介入组件的贴靠参数，所述阻抗数据用于指示所述介入组件的负载，所述贴靠参数用于指示所述介入组件与所述待消融对象间的贴靠程度；并发送至所述初始参数获取模块；
所述介电常数检测装置用于检测所述待消融对象的介电常数。
进一步地，所述目标参数确定模块包括仿真消融模型构建单元；
所述仿真消融模型构建单元用于基于所述对象属性信息、所述初始消融参数、所述阻抗数据、所述贴靠参数、所述介电常数、所述操作对象三维模型和所述导航三维模型作为消融评估模型的输入，进行消融效果仿真，得到所述初始消融参数对应的仿真消融模型，所述仿真消融模型用于表征所述初始消融参数对应的消融效果数据。
进一步地，所述导航控制设备还包括消融三维模型生成模块；
所述消融三维模型生成模块用于在所述介入组件对所述待消融对象进行消融处理之后，获取所述介入组件的消融轨迹信息和消融数据；根据所述消融轨迹信息、所述消融数据和所述目标消融参数生成消融三维模型，所述消融数据包括已消融处理的消融区域和所述消融区域的消融位置信息，所述消融三维模型表征所述消融后的待消融对象的三维空间特征。
进一步地，所述导航控制设备包括脉冲能量发生模块；
所述脉冲能量发生模块用于基于所述目标消融参数生成能量发生控制信号，以控制所述消融设备运行。
进一步地，所述消融设备的控制电路包括开关电路，所述开关电路包括至少两条并联、全桥、半桥或串联连接的分支电路，每条所述分支电路均包括输入端开关模块和输出端开关模块；所述开关电路响应于所述脉冲能量发生模块的能量发生控制信号控制对应的输入端开关模块和输出端开关模块导通，生成脉冲能量。
进一步地，所述分支电路包括滤波模块，所述滤波模块包括多个滤波单元，所述滤波单元包括多种滤波器和滤波选择器，所述滤波选择器用于选择不同的滤波器进行滤波处理。
进一步地，所述介入设备包括芯轴和操控管组件，所述芯轴分别与所述介入组件和所述消融设备电连接；
所述第二位置采集装置设置在所述芯轴和/或所述介入组件上；
所述介入组件包括至少一个消融电极，至少一个所述消融电极为网状，至少一个所述消融电极沿所述芯轴依次设置，所述操控管组件套设于所述芯轴外侧，所述操控管组件能够相对于所述芯轴移动，以带动所述介入组件扩张或收缩。
进一步地，所述贴靠检测装置和所述介电常数检测装置均设置在所述介入组件上，所述贴靠检测装置和所述介电常数检测装置均与所述导航控制设备通信连接。
进一步地，所述介入设备包括固定套，所述固定套的套体两端沿周向设有内齿结构，两端所述内齿结构均从所述套体的端面向端面内侧倾斜设置。
进一步地，，所述第二位置采集装置设置在所述固定套的两所述内齿结构之间。
进一步地，所述操控管组件包括至少一个与所述消融电极连接的操控管。
进一步地，至少一个所述消融电极能够构成为单极电极或双极电极。
进一步地，多个沿所述芯轴依次设置的所述消融电极可扩张的最大距离沿芯轴的远端到近端的方向依次增加。
进一步地，所述消融电极包括多条电极线，多条所述电极线交叉编织成网状的所述消融电极。
进一步地，所述消融电极扩张后的轴向截面为椭圆形、纺锤形、多边形或伞形。
进一步地，包括操作柄，所述控制柄内设有供所述芯轴和所述操控管组件穿过的通道。
进一步地，所述操作柄上设有操控组件，所述操控组件与所述操作柄滑动或转动连接，所述操控组件用于控制至少一个所述操控管移动。
另一方面本申请提供了一种医疗介入装置，包括内芯管、操控外管、电极导丝和消融电极，所述电极导丝可拆卸地穿设在所述内芯管内，所述操控外管套设在所述内芯管外侧；
所述消融电极的远端与所述内芯管的远端固定连接，所述消融电极的近端 与所述操控外管的外壁固定连接，所述操控外管能够沿所述内芯管移动以带动所述消融电极扩张或收缩。
进一步地，所述内芯管为贯通管，所述电极导丝的远端能够穿过所述内芯管的远端与病变组织接触。
进一步地，所述电极导丝和所述消融电极均与消融设备电连接。
进一步地，所述消融电极包括多条电极线，多条所述电极线交叉编织成网状。
进一步地，多条所述电极线的远端与所述内芯管远端的外壁固定连接。
另一方面本申请提供了一种能量递送装置，包括导向管、可膨胀结构、介入组件和手柄，所述导向管一端与所述手柄连接，所述导向管的另一端与所述可膨胀结构连接；
所述导向管内形成有冷却介质通道，所述冷却介质通道一端用于与冷却介质源连通，所述冷却介质通道的另一端与所述可膨胀结构连通；
所述介入组件包括输送线和消融电极，所述输送线一端与所述消融电极连接，所述输送线的另一端用于与消融设备连接，所述消融电极呈网状，所述消融电极包覆所述可膨胀结构。
进一步地，所述导向管远离所述手柄的一端设有第二位置采集装置。
进一步地，所述导向管包括外层管和内层管，所述外层管与所述内层管之间形成冷却介质通道。
进一步地，所述可膨胀结构靠近所述手柄的一端与所述外层管连接，所述可膨胀结构的另一端与所述内层管连接。
进一步地，所述消融电极为四边形网状结构。
进一步地，所述消融电极经切割、编织或电铸制成。
进一步地，所述消融电极的两端分别通过连接件与所述可膨胀结构的两端连接。
进一步地，所述消融电极能够随所述可膨胀结构的扩张而扩张，随所述可膨胀结构的收缩而收缩。
进一步地，所述手柄上设有连通部，所述连通部分别连通所述冷却介质源和所述冷却介质通道。
进一步地，所述第二位置采集装置与导航控制设备通信连接。
另一方面本申请提供了一种可调弯引导管，包括操控部和近端与所述操控部连接的第一层管和第二层管，所述第二层管设置在所述第一层管内，所述第二层管与所述操控部的内部连通；
所述第二层管远离所述操控部的一端设有第二位置采集装置，所述第二位置采集装置设置在所述第二层管的外壁上；
所述操控部上设有调弯控制件和调节丝，所述调节丝一端与所述调弯控制件连接，所述调节丝的另一端用于与所述第二层管的调弯段固定连接。
进一步地，所述第一层管和所述第二层管的直径从近端到远端逐渐减小。
进一步地，包括传导线，所述第二位置采集装置通过所述传导线与导航控制设备连接。
进一步地，所述调弯段设置在所述第二层管上，所述调弯段到所述第二层管远端的距离为2cm-5cm。
进一步地，所述调弯段外侧设有连接结构，所述调弯段通过所述连接结构与所述调节丝连接。
进一步地，所述调弯控制件与所述操控部滑动或转动连接。
进一步地，所述调弯控制件通过所述调节丝拉动所述第二层管弯曲的弧度为0-180°。
进一步地，所述调节丝为单股或多股金属丝构成的圆形丝绳或扁形丝绳。
进一步地，所述调节丝的外侧套设有弯丝通道，所述弯丝通道沿所述第二层管轴向设置，并与所述操控部连接。
另一方面本申请提供了一种医用活检取样装置，包括调节部、引导管、取样件和调弯件；所述引导管套设于所述取样件上，所述引导管与所述调节部连接，所述调节部上设有第一调节件和第二调节件；
所述取样件一端与所述第一调节件连接，所述取样件的另一端设有取样头；所述调弯件一端与所述第二调节件连接，所述调弯件的另一端与所述引导管的调弯部连接，所述调弯件能够通过所述调弯部拉动所述引导管弯曲。
进一步地，所述取样件上设有第二位置采集装置，所述第二位置采集装置靠近所述取样头设置，所述第二位置采集装置用于采集所述取样头的位置信息，并传输至导航控制设备。
进一步地，所述调弯部设置在所述引导管上，且靠近所述引导管远端。
进一步地，所述调弯件包括调控丝，所述调控丝一端与所述第二调节件连接，所述调控丝的另一端与所述调弯部连接。
进一步地，所述调弯件包括调节管，所述调节管套设于所述调控丝上，所述调节管与所述引导管连接。
进一步地，所述引导管的调弯部处设有连固件，所述调控丝通过所述连固件与所述调弯部连接。
进一步地，所述第一调节件和第二调节件分别与所述调节部滑动或转动连接。
进一步地，所述调弯件拉动所述引导管弯曲的弧度为0°-120°。
进一步地，所述第二位置采集装置通过信号线与导航控制设备连接。
另一方面本申请提供了一种对象消融控制方法，所述方法包括：
接收第一位置采集装置采集的目标对象的运动位置信息和第二位置采集装置采集的介入组件在目标介入区域中的介入位置信息，所述目标介入区域属于所述目标对象；
基于所述目标介入区域的区域图像信息、介入组件的形态属性信息、所述运动位置信息和所述介入位置信息进行虚拟模型构建，得到导航三维模型和操作对象三维模型，所述导航三维模型用于表征所述目标介入区域的三维空间特征、所述介入组件的三维空间特征，以及待消融对象、所述介入组件与所述目标介入区域间的空间位置信息，所述操作对象三维模型用于表征所述待消融对象的三维空间特征；
根据所述导航三维模型、所述操作对象三维模型和所述待消融对象的对象属性信息，确定所述待消融对象对应的目标消融参数；
控制消融设备基于所述目标消融参数运行，以使所述介入组件对所述待消融对象进行消融处理。
另一方面本申请提供了一种对象消融控制装置，所述装置包括：
信息接收模块：用于接收第一位置采集装置采集的目标对象的运动位置信息和第二位置采集装置采集的介入组件在目标介入区域中的介入位置信息，所述目标介入区域属于所述目标对象；
模型构建模块：用于基于目标介入区域的区域图像信息、介入组件的形态属性信息、所述运动位置信息和所述介入位置信息进行虚拟模型构建，得到导 航三维模型和操作对象三维模型，所述导航三维模型用于表征所述目标介入区域的三维空间特征、所述介入组件的三维空间特征，以及待消融对象、所述介入组件与所述目标介入区域间的空间位置信息，所述操作对象三维模型用于表征所述待消融对象的三维空间特征；
参数确定模块：用于根据所述导航三维模型、所述操作对象三维模型和所述待消融对象的对象属性信息，确定所述待消融对象对应的目标消融参数；
对象控制模块：用于控制消融设备基于所述目标消融参数运行，以使所述介入组件对所述待消融对象进行消融处理。
另一方面本申请提供了一种脉冲消融效果评估方法，包括：
对消融导管处的当前组织进行标测建模，得到当前组织的三维模型；
获取待评估数据；所述待评估数据包括消融导管采集的检测数据、消融装置的消融参数和网篮状态数据；
将所述待评估数据输入预先训练好的消融状态评估模型，得到消融状态评估结果；所述消融状态评估模型能够根据所述待评估数据和所述待评估数据与消融状态的对应关系，计算出所述待评估数据对应的所述消融状态评估结果；
在所述当前组织的三维模型中展示所述消融状态评估结果。
进一步地，所述将所述待评估数据输入预先训练好的消融状态评估模型，得到消融状态评估结果之后，包括：
将所述待评估数据和所述消融状态评估结果保存到样本数据中，得到更新后的样本数据；
基于所述更新后的样本数据训练并更新所述消融状态评估模型。
进一步地，所述将所述待评估数据输入预先训练好的消融状态评估模型之前，包括：
获取样本数据；
使用所述样本数据训练预先构建的机器学习模型，并在训练过程中调整所述机器学习模型的参数，直至所述机器学习模型输出的所述消融状态评估结果满足要求；将所述机器学习模型保存为所述消融状态评估模型。
进一步地，所述在所述当前组织的三维模型中展示所述消融状态评估结果，包括：
根据所述消融状态评估结果以及所述消融状态评估结果与展示颜色的对应 关系确定所述消融状态评估结果对应的展示颜色；
在所述当前组织的三维模型中显示所述消融状态评估结果和/或所述消融状态对应的展示颜色；所述消融状态评估结果包括消融范围和消融深度。
进一步地，所述检测数据包括阻抗信号，所述获取待评估数据，包括：
向所述消融导管的电极加载第一信号；所述第一信号的频率范围为第一预设频率范围；
采集所述第一信号作用在电极后的回传信号；
对所述回传信号进行滤波处理以将所述回传信号转化为所述阻抗信号。
进一步地，所述检测数据包括介电常数信号，所述获取待评估数据，包括：
将正弦激励信号通过所述消融导管的电极作用于当前组织；所述正弦激励信号的频率范围为第二预设频率范围；
获取不同频率正弦激励信号作用于当前组织后回传的复阻抗电信号，将所述复阻抗电信号作为所述介电常数信号。
进一步地，所述网篮状态数据包括网篮张开状态数据和网篮与当前组织的贴靠面积，所述网篮张开状态数据和所述贴靠面积用于确定待消融区域的厚度。
另一方面本申请提供了一种脉冲消融效果评估装置，包括：
模型建立模块，用于对消融导管处的当前组织进行标测建模，得到当前组织的三维模型；
数据获取模块，用于获取待评估数据；所述待评估数据包括消融导管采集的检测数据、消融装置的消融参数和网篮状态数据；
状态评估模块，用于将所述待评估数据输入预先训练好的消融状态评估模型，得到消融状态评估结果；所述消融状态评估模型能够根据所述待评估数据和所述待评估数据与消融状态的对应关系，计算出所述待评估数据对应的所述消融状态评估结果；
结果展示模块，用于在所述当前组织的三维模型中展示所述消融状态评估结果。
另一方面本申请提供了一种计算机可读存储介质，所述存储介质中存储有至少一条指令或至少一段程序，所述至少一条指令或所述至少一段程序由处理器加载并执行以实现如上述的对象消融控制方法和脉冲消融效果评估方法。
另一方面本申请提供了一种电子设备，所述设备包括处理器和存储器，所 述存储器中存储有至少一条指令或至少一段程序，所述至少一条指令或所述至少一段程序由所述处理器加载并执行以实现如上述的对象消融控制方法和脉冲消融效果评估方法。
实施本发明实施例，具有如下有益效果：
本申请对象消融系统针对复杂的目标介入区域，基于目标介入区域的区域图像信息进行虚拟模型构建，得到导航三维模型和操作对象三维模型。导航三维模型用于表征目标介入区域的三维空间特征、介入组件的三维空间特征，以及待消融对象、介入组件与目标介入区域间的空间位置信息。通过导航三维模型可以对介入组件进行导航定位，为手术过程中确定介入组件的位置提供重要的直观的帮助，从而使得介入组件能够到达更远且狭窄的病变位置，使介入设备精准到达治疗区域与病灶组织均匀贴靠，显著优化消融效果。
本申请通过在消融前构建仿真消融模型，使得术者可以直观的观察到基于初始消融参数生成的脉冲能量的消融范围和消融效果，并可以直观的帮助术者判断初始消融参数是否需要调整，进而对初始消融参数和消融次数进行优化，得到目标消融参数，以生成更精确的脉冲能量。
本申请消融设备的开关电路通过不同分支电路的连接和对不同分支电路上对应输入端开关模块和输出端开关模块的控制，可以实现脉冲能量的幅度、脉宽、间隔、数量或方向等的若干种组合。通过对不同分支电路上对应输入端开关模块和输出端开关模块的控制和滤波模块配合，可以实现不同频率和形态的脉冲能量的输出。基于本申请开关电路，消融设备可以通过在一组脉冲能量中具备不同的电压幅度、频率和脉冲形态的变化，生成更针对性的脉冲能量，在增加治疗效果的同时有利于减少在消融治疗过程中带来的刺激反应问题，提高治疗安全性。
本申请导航控制设备还包括消融三维模型生成模块，消融三维模型用于记录介入组件在目标介入区域中的消融轨迹信息和消融数据。通过消融三维模型术者可随时回顾观察介入组件的消融轨迹信息和消融数据，为术者判断哪些部位已经消融，哪些部位仍未消融，提供了非常重要的数据支撑，可有效提高手术效率，降低手术重复消融的可能。
本申请对象消融系统将导航控制设备、消融设备和介入设备结合在一起，提高了手术准确性、效率、治疗效果和治疗安全性。
本申请介入设备的介入组件包括至少一个网状的消融电极，消融电极结构紧密、支撑性好、能量分布均匀，能够与病灶组织更好的贴合，贴合面积更大、消融更均匀。消融电极的两端通过具有内齿结构的固定套固定，提高了同轴性，大大减小了消融电极的远端与芯轴固定后弯扭导致的同轴问题，连接可靠，可有效避免手术过程中消融电极远端的脱落、开裂问题，提高了介入设备的可靠性和缩短治疗时间。
本申请对象消融系统将导航控制设备、消融设备和介入设备结合在一起，提高了手术准确性、效率、治疗效果和治疗安全性。
本申请医疗介入装置的内芯管内可拆卸地穿设有电极导丝，当病变组织在更狭窄的气管中时，通过内芯管可将电极导丝输送到更细的支气管中到达病变组织，以对更狭窄的区域进行消融治疗。
本申请能量递送装置中消融电极为网状且包覆在可膨胀结构表面，结构紧密、拉伸性能和结构稳定性更高。控制可膨胀结构扩张后，网状消融电极与目标区域的贴合面积更大、更加均匀，治疗效果更好。导向管为双层导管，具有冷却介质通道和导线通道，结构更加紧凑，避免了导线裸露在外的冗余。能量递送装置通过第二位置采集装置和导航控制设备的配合可以引导可膨胀结构和介入组件精准到达目标区域。
本申请可调弯引导管的第二位置采集装置设置在引导管远端，通过第二位置采集装置可以对引导管进行定位和导航。引导管还包括调弯控制件和调节丝，通过调弯控制件和调节丝能够控制引导管弯曲。第二位置采集装置与控制引导管弯曲的调弯控制件和调节丝配合可以更精准的对病灶进行定位，使引导管远端能够准确的到达更远、更狭窄的病变位置，大大提高了诊断准确率和治疗的精准率，有效减少了诊断和治疗创伤。可调弯引导管结构简单、操作简便，且可以与其它介入器械配合进行取样、微波、消融、放疗等精准检查或治疗，实用性较高、便于推广和生产。本申请医用活检取样装置将控制取样件的第一调节件和控制调弯部的第二调节件集成于调节部，通过不同的调节通道分别进行调节，操作更加便利；通过调弯件能够控制引导管远端进行调弯，且弯曲弧度增加，以使得引导管带动取样件弯曲的灵活性增加，能够进行精细调整，更加准确的到达病变区域并取样。取样装置同样设置第二位置采集装置，通过第二位置采集装置对引导管和取样头的定位和导航，可以引导取样头更准确的到达 病变区域处，提高取样准确率。
本申请脉冲消融效果评估方法及装置，能够结合三维标测建模技术与脉冲电场消融技术实现消融状态评估，基于消融状态评估结果进一步提高脉冲电场肺部消融治疗的有效性。
附图说明
为了更清楚地说明本发明的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单的介绍。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它附图。
图1是本申请一种对象消融系统的结构示意图；
图2是本申请一种介入设备的结构示意图；
图3是本申请介入设备设有限位结构的消融电极的结构示意图；
图4是本申请介入设备包括两个消融电极和两个操控管的介入设备的结构示意图；
图5是本申请介入设备包括多个消融电极的介入组件的结构示意图；
图6是本申请介入设备的操作柄的剖面图；
图7是本申请介入设备的固定套的结构示意图；
图8是本申请介入设备的消融电极的一种实施方式的结构示意图；
图9是本申请介入设备的消融电极的另一种实施方式的结构示意图；
图10是本申请介入设备的消融电极展开为伞形的的结构示意图；
图11是本申请介入设备包括多个圆柱形消融电极的介入组件的结构示意图；
图12是本申请一种医疗介入装置的结构示意图；
图13是本申请医疗介入装置的内芯管、操控外管和电极导丝的剖面图；
图14是本申请医疗介入装置介入气管内的状态示意图；
图15是本申请一种能量递送装置的俯视图；
图16是本申请能量递送装置的结构示意图；
图17是本申请能量递送装置的可膨胀结构和介入组件的细节结构示意图；
图18是本申请能量递送装置的导向管的断面图；
图19是本申请一种可调弯引导管的结构示意图；
图20是本申请可调弯引导管的第二位置采集装置和第二层管远端的结构示意图；
图21是本申请可调弯引导管的调节丝和调弯段连接的结构示意图；
图22是本申请一种医用活检取样装置的结构示意图；
图23是本申请取样装置的取样头和第二位置采集装置的结构示意图；
图24是本申请取样装置的调弯件和调弯部连接的结构示意图；
图25是本申请取样装置的另一种实施方式中调弯件和调弯部连接的结构示意图；
图26是本申请对象消融系统的导航控制设备的结构示意图；
图27是本申请对象消融系统的目标参数确定模块的结构示意图；
图28是本申请脉冲能量对肺部消融效果的仿真、评估及显示的原理图；
图29是本申请模拟的介入组件与支气管的接触长度与支气管内径的关系图；
图30是本申请模拟的随着支气管级数增加，接触长度与场强的关系图；
图31是本申请模拟的随着支气管壁厚增加，接触长度与场强的关系图；
图32是本申请设置脉冲电压幅度为1500V时生成的仿真消融模型中脉冲能量对肺部组织的消融效果图；
图33是本申请支气管组织的病理结构图；
图34是本申请不同初始消融参数生成的脉冲能量对支气管组织黏膜层的消融效果预测图；
图35是本申请消融设备的控制电路的模块示意图；
图36是本申请消融设备的分支电路的模块示意图；
图37是本申请一种对象消融控制方法的流程图；
图38是本申请一种脉冲消融效果评估方法的一个流程图；
图39是本申请脉冲消融效果评估系统的连接框图；
图40是本申请脉冲消融效果评估方法的原理框图；
图41是本申请提供的消融状态评估模型的一个示例；
图42是本申请提供的脉冲消融效果评估装置的一结构框图；
图43是本申请服务器的结构示意图。
其中，图中附图标记对应为：1-介入设备，11-第二位置采集装置，12-介入组件，120-输送线，121-消融电极，122-第一消融电极，123-第二消融电极，124- 限位结构，13-芯轴，14-操控管组件，141-操控管，142-第一操控管，143-第二操控管，15-固定套，151-内齿结构，16-操作柄，161-通道，162-固定卡口，163-密封圈，17-操控组件，100-内芯管，101-操控外管，102-电极导丝，103-固定件，104-操作手柄，105-操控件，20-导向管，201-冷却介质通道，202-外层管，203-内层管，204-导线通道，21-可膨胀结构，22-手柄，23-连接件，24-导线，30-操控部，31-第一层管，32-第二层管，321-调弯段，33-传导线，34-调弯控制件，35-调节丝，36-轨道，37-连接结构，38-弯丝通道，40-调节部，401-第一调节件，402-第二调节件，41-引导管，411-调弯部，42-取样件，421-取样头，43-调弯件，431-调控丝，432-调节管，44-连固件，45-导向套管，46-信号线，2-导航控制设备，021-介入区域子模型构建模块，022-介入组件子模型构建模块，023-融合模块，024-导航规划模块，025-初始参数获取模块，026-目标参数确定模块，0261-仿真消融模型构建单元，027-消融三维模型生成模块，028-脉冲能量发生模块，3-第一位置采集装置，4-消融设备，041-脉冲电源，042-开关电路，043-输出接口，0421-分支电路，4211-输入端开关模块，4212-输出端开关模块，4213-电容模块，4214-二极管模块，4215-滤波模块，1000-电子设备，1100-中央处理器，1200-储存介质，1210-操作系统，1220-数据，1230-应用程序，1300-存储器，1400-输入输出接口，1500-有线或无线网络接口，1600-电源，1700-显示器。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或 设备固有的其它步骤或单元。
本申请提供一种对象消融系统，能够通过导航定位功能控制介入设备精准的进入肿瘤、管腔、器官等目标介入区域与病变组织形成较好的贴靠，且能够通过在消融前对消融效果数据进行消融效果评估生成更精确和更针对性的脉冲能量并输送至病变组织来进行消融治疗。
本申请对象消融系统可以用于对肺部气管和支气管内病症进行治疗，例如慢性支气管炎、慢性阻塞性肺病、哮喘等。肺部支气管组织结构主要包括上皮细胞、固有层和粘膜底层，其中上皮细胞为具有纤毛的假复层细胞，假复层细胞之间夹有杯状细胞，杯状细胞分泌少量粘液；粘膜底层主要包括平滑肌和结缔组织，位于结缔组织处的粘液腺分泌大部分粘液。长期产生过多的粘液并在肺中积聚，是造成多种肺部疾病的主要病因。本申请对象消融系统能够通过脉冲能量破坏去除上皮细胞中的杯状细胞和粘膜底层中的粘液腺体，从而减少支气管腔中粘液的分泌，并通脉冲能量将失效的长有纤毛的假复层细胞杀死，新生的上皮细胞能更好的帮助气管粘液咳出，防止粘液堆积。本申请对象消融系统能够提高手术准确性、效率、治疗效果和治疗安全性。
需要说明的是，在对肺支气管内病症进行治疗时，本申请目标介入区域为目标对象的肺支气管区域，操作对象为肺支气管内待消融的病变组织区域。
如图1-11所示，本申请提供一种对象消融系统，包括介入设备1、导航控制设备2、第一位置采集装置3和消融设备4。介入设备1包括第二位置采集装置11和介入组件12。第一位置采集装置3、第二位置采集装置11、介入组件12和消融设备4分别与导航控制设备2通信连接。
具体地，介入设备1用于输送脉冲能量，并介入目标对象体内对待消融对象进行消融处理。在本申请中介入设备1包括芯轴13、操控管组件14、第二位置采集装置11和介入组件12。芯轴13分别与介入组件12和消融设备4电连接。
第二位置采集装置11设置在芯轴13和/或介入组件12上。
介入组件12包括至少一个消融电极121，至少一个消融电极121可为网状，至少一个消融电极121沿芯轴13依次设置，操控管组件14套设于芯轴13上，操控管组件14能够相对于芯轴13移动，以带动介入组件12扩张或收缩。
在一些实施例中，第二位置采集装置11可以设置在芯轴13或介入组件12上的任意位置，第二位置采集装置11的数量不受限制。第二位置采集装置11 的数量越多，可以更全面的实时定位和呈现介入设备1在气管中的实时变化，从不同维度表达介入设备在气管中的位置。优选地，第二位置采集装置11设置在芯轴13或介入组件12的远端。第二位置采集装置11用于采集介入组件12在目标介入区域中的介入位置信息，并通过信号线传输至导航控制设备2，目标介入区域属于目标对象。在一些可能的实施方式中，第二位置采集装置11可以为磁感应传感器，磁感应传感器可以通过磁场获取介入组件12在目标介入区域中的介入位置信息；在另一些可能的实施方式中，第二位置采集装置11可以为电感应传感器，电感应传感器可以通过电场获取介入组件12在目标介入区域中的介入位置信息。优选地，第二位置采集装置11包括至少一个五自由度磁定位传感器或六自由度磁定位传感器。
需要说明的是，在一些实施例中，芯轴13可以为分别与消融设备4和介入组件12相连接的电极线，用于将消融能量传递到介入组件12上。在另一些实施例中，芯轴13可以为不锈钢弹簧管、海波管或螺旋管等，芯轴13内设有分别与消融设备4和介入组件12相连接的电极线。电极线可以为单股或多股，线径可以为0.05mm-1mm，电极线的材质为可导电的金属材料。在一些实施例中，芯轴13的外层设有聚四氟乙烯涂层或不带涂层。
具体地，操控管组件14包括至少一个与消融电极121连接的操控管141。在一些可能的实施方式中，介入组件12包括一个消融电极121，操控管组件14包括一个操控管141，消融电极121的远端与芯轴13的远端连接，消融电极121的近端与操控管141的外壁固定连接，操控管141的远端与芯轴13的远端相间隔设置。在另一些可能的实施方式中，介入组件12包括第一消融电极122和第二消融电极123，第一消融电极122和第二消融电极123沿芯轴13依次设置，操控管组件14包括依次套设的第一操控管142和第二操控管143，第一消融电极122的远端与芯轴13的远端连接，第一消融电极122的近端与第一操控管142的外壁固定连接，通过控制第一操控管142移动可控制第一消融电极扩张或收缩，第一操控管142的远端与第一消融电极122的远端相间隔设置；第二消融电极123的远端与第一操控管的外壁连接，该外壁距离第一操控管远端一定距离，第二消融电极123的近端与第二操控管143的外壁固定连接，通过控制第二操控管移动可控制第二消融电极扩张或收缩。
如图5所示，在一些可能的实施方式中，介入组件12包括多个消融电极121， 多个消融电极121可张开的最大距离相同。如图11所示，在另一些可能的实施方式中，多个沿芯轴13依次设置的消融电极121可张开的最大距离沿芯轴13远端到近端的方向依次增加。因此，可以根据气管内径的变化，通过操控管组件控制不同直径的消融电极121张开以适应不同内径尺寸的气管。具体地，至少一个消融电极121能够构成为单极电极或双极电极。在一些可能的实施方式中，至少一个消融电极121释放单极脉冲，目标对象体表贴有负极板，通过负极板与产品结合在体内形成回路，使脉冲能量作用在治疗区域。在另一些可能的实施方式中，不同的消融电极121在目标对象体内构成正负两极，正负能量传递，将正负两极以及两极范围内的能量范围形成一个闭环治疗区域。控制最两端消融电极121的电路导通，可以得到更大范围的消融面积，控制相邻两消融电极121的电路导通，可以将消融范围控制在相邻两消融电极121之间，治疗范围更精准，刺激反应更小。
在一些可能的实施方式中，介入组件12包括一个消融电极121，消融电极121通过多条电极线与消融设备中的连接端口电连接，连接端口包括一个负极端口和7个正极端口。负极端口用于连接贴在目标对象体表的负极板，其他7个正极端口分别与不同的电极线连接，电极线与消融电极121连接。例如，第一电极线连接第一端口，第二电极线连接第二端口，第三电极线连接第三端口，第四电极线连接第四端口，第五电极线连接第五端口，第六电极线连接第六端口，第七电极线连接第七端口。每个电极连接端口都可通过用户设置单独控制，且根据消融的区域和范围，控制线路的通断。
在一些实施例中，消融电极121包括多条电极线，多条电极线交叉编织成网状的消融电极121。优选地，消融电极121可以为导电的金属丝编织而成，金属丝的材质优选的可以为不锈钢、镍钛合金、钴铬合金等具有良好导电性能的材料。金属丝的纵切面可以是椭圆形、圆形或多边形，使得编织成的消融电极121可以更充分的与目标位置贴合。网状消融电极121容易改变形状，可以扩张和收缩，网格紧密度、拉伸性能和结构稳定性更高，可以更好的与目标位置贴合，且贴合面积更大、更加均匀，治疗效果更好。
在一些实施例中，如图8-11所示，消融电极121扩张后的轴向截面可以为纺锤形、多边形、椭圆形或伞形。当消融电极121的近端远离其远端时，消融电极121收缩为与芯轴13同轴的圆柱体，以方便在狭窄通道内移动；当通过操 控管带动消融电极121的近端向靠近其远端的方向移动时，消融电极121可以扩张为轴向截面为椭圆形、纺锤形、多边形或伞形的网状体，以增加与不同内径支气管和特殊形状待消融对象的贴合面积。在一些可能的实施方式中，多个消融电极121沿芯轴3依次设置，多个消融电极121可扩张的最大直径沿芯轴13远端到近端的方向依次增加，可根据进入气管的内径控制不同直径的消融电极121张开以适应不同内径尺寸。当气管特别细小时，可仅控制最远端直径最小的消融电极121张开，轴向截面为矩形的圆柱体结构更适合路径平滑的气管。
在一些实施例中，消融电极121的外侧设有绝缘层，绝缘层用于增加消融电极121的绝缘性能。
在一些实施例中，操控管141可以是PI(聚酰亚胺)、PET(聚对苯二甲酸乙二醇酯)、Pebax(嵌段聚醚酰胺树脂)或PTFE(聚四氟乙烯)等挤出管，或者PI/PTFE复合管。操控管141的外径可以优选为0.5mm-5mm，操控管141的壁厚可以优选为0.025mm-0.5mm，长度可以优选为40cm-80cm。
在一些实施例中，如图3所示，消融电极121内设有限位结构124，限位结构124与操控管141的远端间隔设置。在一些可能的实施方式中，限位结构可以为设置在消融电极121内的限位管，限位管与操控管141的远端相间隔设置，当操控管141远端与限位管抵触，消融电极121张开到最大。在一些可能的实施方式中，当限位结构124与操控管141远端的抵触处位于消融电极121张开为最大时的中间位置时，消融电极121的整体更加稳定，与气管的贴合度更好。本申请通过调整限位管的长度，可以调整消融电极121的最大径向张开距离。在一些可能的实施方式中，消融电极121张开时，通过限位结构124可以限制消融电极121的张开方向。在一般情况下，当限位结构124靠近消融电极121的远端时，消融电极121可以张开为伞状，且张开的开口方向也会在远端，以使得在短小的气管内时，消融电极121可以通过这种扩张方式增加与气管贴合面积，同时这种伞状结构也可以顺应狭小的气管，不会因为径向支撑力过大而导致因消融电极121张开幅度过大而损伤气管内壁。
具体地，介入设备1还包括固定套15，固定套15与消融电极121的端部固定连接，以固定消融电极121的端部。固定套15的套体两端沿周向设有内齿结构151，两端内齿结构151均从套体的端面向端面内侧倾斜设置。在一些可能的实施方式中，内齿结构(151)的齿形可以为波浪齿、三角齿、平齿或梯形齿等。 消融电极121的两端通过固定套15与芯轴13或操控管组件14固定连接。固定套15的内齿结构(151)可以更好的固定网状消融电极121，内齿结构(151)的设置使固定套15的两端开口变小，提高了同轴性，大大减小了消融电极121的远端与芯轴13固定后弯扭导致的同轴问题。在一些可能的实施方式中，固定套15的两内齿结构(151)之间可以用于放置第二位置采集装置11,以减小第二位置采集装置11安装所占用的空间。通过固定套15固定消融电极121的两端，提高了消融电极121两端的同轴性和连接可靠性，避免了手术过程中消融电极121的脱落，提高了介入设备的可靠性，缩短了治疗时间，并可以给第二位置采集装置11留有放置空间。
具体地，介入设备1还包括操作柄16，操作柄16内设有能够容纳芯轴13和操控管组件14穿过的通道161。操作柄16为介入设备的控制柄，介入设备的芯轴13和信号线可以集合为一体，从操作柄16的通道161内穿出，结构紧凑，避免了信号线裸露在外的冗余。在一些可能的实施方式中，通道161的近端设有固定卡口162，固定卡口162与芯轴13的近端连接，固定卡口162用于固定芯轴13。固定卡口162的内侧可以设置密封圈163，密封圈163用于提高操作柄16的密封性和导电安全性。在一些实施方式中，操作柄16可以通过塑料、尼龙或硅胶等材料3D打印或注塑而成。操作柄16上设有操控组件17，操控组件17的与操作柄16滑动或转动连接，操控组件17的另一端与操控管组件14的近端固定连接。在一些可能的实施方式中，操控组件17的一端被构造为与操作柄16的外壁滑动连接的滑块，操控组件17的另一端被构造为与操作柄16内壁滑动连接的柱塞部，柱塞部与操控管组件14的近端固定连接。在另一些可能的实施例中，操控组件17可以被构造为旋钮，旋钮内圈与操控管组件14螺纹连接，通过旋钮转动可带动操控管组件轴向移动。本申请通过操控组件17可以控制操控管组件14相对于芯轴13移动，以控制介入组件12的扩张程度。
具体地，介入设备1还包括贴靠检测装置和介电常数检测装置，贴靠检测装置和介电常数检测装置分别与导航控制设备2通信连接。贴靠检测装置用于检测待消融对象的阻抗数据以及介入组件12的贴靠参数。阻抗数据用于指示介入组件12的负载，贴靠参数用于指示介入组件12与待消融对象间的贴靠程度；并发送至初始参数获取模块025；介电常数检测装置用于检测待消融对象的介电常数。在一些实施例中，贴靠检测装置和介电常数检测装置可以设置在介入组 件12的外壁上。
本申请应用上述介入设备对肺支气管区域内病症进行治疗的步骤：通过操作柄16控制芯轴13和操控管组件将收缩状态的介入组件12送入气管内；当介入组件到达目标病变组织区域，根据气管内径，通过操控组件17控制消融电极121的张开程度，使消融电极121与病变组织均匀贴靠；通过与芯轴13连接的消融设备发送消融能量，消融电极121释放消融能量对病变组织进行消融治疗；消融治疗的时间和次数针对不同目标区域的病变类型和不同的治疗方案、以及输送的消融能量的大小和类型进行控制和操作。
需要说明的是，本申请对象消融系统还包括第一位置采集装置3，第一位置采集装置3用于采集目标对象的运动位置信息，并传输至所述导航控制设备2。具体地，本申请目标对象的运动位置信息可以为目标对象的呼吸状态信息，第一位置采集装置3可以为放置在目标对象身体表面或周围的获取目标对象呼吸时胸部活动信息的磁定位电极。在一些可能的实施方式中，第一位置采集装置3包括三个或六个内置磁定位传感器的独特形态的电极组成，放置于患者的前胸和/或后背。当目标对象吸气时，第一位置采集装置3随胸部向上运动，当目标对象呼气时随胸部向下运动。在磁定位信号场中目标对象的胸部运动可以被第一位置采集装置3捕获，通过第一位置采集装置3提供的目标对象的运动位置信息，可以对第二位置采集装置11提供的介入组件12在目标介入区域中的介入位置信息进行呼吸干扰的补偿计算，经过补偿计算可以消除第二位置采集装置11在运动过程中受到的呼吸干扰，获取更加精确的介入位置信息。
需要说明的是，本申请对象消融系统还包括定位发生设备，定位发生设备与导航控制设备通信连接。定位发生设备用于在工作区域内形成多维度的定位信号场，当第一位置采集装置和第二位置采集装置在定位信号场内移动时，就可以采集对应的三维空间的位置信息。
在一些实施例中，如图12-14所示，本申请介入设备还可以为一种医疗介入装置，医疗介入装置同样用于精准的进入肿瘤、管腔、器官等目标介入区域，与病变组织形成较好的贴靠，并与导航控制设备和消融设备连接，将消融设备生成的消融能量输送并施加至病变组织，实现消融治疗。
医疗介入装置包括内芯管100、操控外管101、电极导丝102和上述的消融电极121，电极导丝102可拆卸地穿设在内芯管100内，操控外管101套设在内 芯管100外侧；消融电极121的远端与内芯管100的远端固定连接，消融电极121的近端与操控外管101的外壁固定连接，操控外管101能够沿内芯管100移动以带动消融电极121张开或收缩。
具体地，电极导丝102和消融电极121均与消融设备4电连接。在一些实施例中，内芯管100可以为弹簧管、海波管或海波管螺旋管等管状结构，内芯管100内穿设有电极线，消融电极121通过电极线与消融设备电连接，将消融能量传输至消融电极121。电极线可以为单股或多股，电极线的线径可以为0.05mm-1mm，电极线的材质为可导电的金属材料。在一些可能的实施方式中，消融电极121进入气管进行消融治疗时，当发现目标病变组织后，可以根据气管内径尺寸，通过推动操控外管101控制消融电极121张开，与病变组织均匀贴合。
在一些实施例中，内芯管100为贯通管，电极导丝102的远端能够穿过内芯管100的远端与病变组织接触。优选地，电极导丝可以为导电的金属丝，金属丝的材质优选的可以为不锈钢、镍钛合金、钴铬合金等具有良好导电性能的材料。当对较窄的气管进行消融治疗时，可将电极导丝102从控制柄端穿入，并从内芯管100的远端穿出到达目标病变组织，以对病变组织进行消融治疗。
具体地，消融电极121包括多条电极线，多条电极线交叉编织成网状。优选地，电极线可以为导电的金属丝，金属丝的材质优选的可以为不锈钢、镍钛合金、钴铬合金等具有良好导电性能的材料。金属丝的纵切面可以是椭圆形、圆形或多边形，使得编织成的消融电极121可以更充分的与病变组织贴合。网状消融电极121容易改变形状，可以张开和收缩，网格紧密度、拉伸性能和结构稳定性更高，可以更好的与病变组织贴合，且贴合面积更大、更加均匀，治疗效果更好。本申请消融电极121扩张后的轴向截面可以为椭圆形、纺锤形、多边形或伞形。当消融电极121的近端远离消融电极121的远端时，消融电极121收缩为与内芯管100同轴的圆柱体，以方便在狭窄通道内移动；当通过操控外管101带动消融电极121的近端向靠近远端的方向移动时，消融电极121可以扩张为轴向截面为椭圆形、纺锤形、多边形或伞形的网状体，以增加与不同内径支气管和特殊形状病变组织的贴合面积。
在一些实施例中，消融电极121的电极线与消融设备中的连接端口电连接。例如，在一些可能的实施方式中，连接端口包括一个负极端口和多个个正极端 口。负极端口用于连接贴在目标对象体表的负极板，电极导丝102的一端连接着负极端口，其他正极端口分别与不同的电极线连接。每个电极连接端口都可通过用户设置单独控制，且根据消融的区域和范围，控制线路的通断。
在一些实施例中，消融电极121包括多条电极线，多条电极线可张开为灯笼状结构，灯笼状结构可以与不同内径支气管和特殊形状病变组织的贴合。
具体地，多条电极线的远端与内芯管100远端的外壁固定连接。在一些可能的实施方式中，多条电极线的远端可以通过焊接、热熔或粘结等方式与内芯管100远端的外壁固定连接。
具体地，介入装置还包括固定件103，固定件103用于固定消融电极121的近端。固定件103的套体两端沿周向设有内齿结构，两端内齿结构均从套体的端面向端面内侧倾斜设置。内齿结构的齿形可以为波浪齿、三角齿、平齿或梯形齿。内齿结构可以更好的固定网状消融电极121，内齿结构的设置使固定件103的管体两端开口变小，提高了同轴性。在一些可能的实施方式中，固定件103的两端内齿结构之间设有第二位置采集装置11，第二位置采集装置11用于获取消融电极121在目标介入区域中的介入位置信息，并通过信号线传输给外部导航控制设备2。第二位置采集装置11设置在固定件103内部，可以大大减小第二位置采集装置11安装所占用的空间。本申请通过固定件103固定消融电极121，提高了消融电极121的连接可靠性，避免了手术过程中消融电极121的脱落，提高了介入装置的可靠性，缩短了治疗时间，并可以给第二位置采集装置留有放置空间。在一些实施例中，第二位置采集装置可以设置在内芯管100或消融电极121的任意位置，第二位置采集装置的数量不受限制。第二位置采集装置的数量越多，可以更全面的实时定位和呈现介入装置在气管中的实时变化，从不同维度表达产品在气管中的位置。
在一些实施例中，消融电极121的外侧设有绝缘层，绝缘层用于增加消融电极121的绝缘性能。
在一些实施例中，操控外管101可以是PI、PET、Pebax或PTFE等挤出管，或者PI/PTFE复合管。操控外管101的外径优选为0.5mm-5mm，操控外管101的壁厚优选为0.025mm-0.5mm，长度优选为40cm-80cm。
具体地，本申请介入装置还包括操作手柄104，操作手柄104内设有供内芯管100和操控外管101穿过的通道。介入装置的内芯管100、电极导丝102和信 号线可以集合为一体，从操作手柄104中穿出，结构紧凑，避免了信号线裸露在外的冗余。在一些实施方式中，通道的近端设有固定卡口，固定卡口与内芯管100的近端连接，固定卡口用于固定内芯管100。固定卡口的内侧可以设置密封圈，密封圈用于提高操作手柄104的密封性和导电安全性。在一些实施方式中，操作手柄104可以通过塑料、尼龙或硅胶等材料3D打印或注塑而成。
具体地，操作手柄104上设有操控件105，操控件105与操作手柄104滑动或转动连接，操控件105用于控制操控外管101移动。在一些可能的实施方式中，操控件105的一端与操作手柄104滑动或转动连接，操控件105的另一端与操控外管101的近端固定连接。在一些可能的实施方式中，操控件105的一端被构造为与操作手柄104的外壁滑动连接的滑块，操控件105的另一端被构造为与操作手柄104内壁滑动连接的柱塞部，柱塞部与操控外管101的近端固定连接。在另一些可能的实施例中，操控件105可以被构造为旋钮，旋钮内圈与操作手柄104螺纹连接，通过旋钮转动可带动操控外管101轴向移动。通过操控件105可以控制操控外管101相对于内芯管100移动，以控制可扩展电极3的张开程度。
本申请应用上述介入装置的步骤：通过操作手柄104控制内芯管100和操控外管101将收缩状态的消融电极121送入气管内；当消融电极121到达目标病变组织区域，根据气管内径，通过操控件105控制消融电极121的张开程度，使消融电极121与病变组织均匀贴靠；当病变组织在更狭窄的气管中时，先将消融电极121收缩到达其所能到达的最小支气管，再将电极导丝102从操作手柄104端的内芯管100中穿入，并从内芯管100远端伸出输送到更细的支气管中到达病变组织；通过与电极导丝102和消融电极121电连接的消融设备发送消融能量，电极导丝102和/或消融电极121释放消融能量对病变组织进行消融治疗；消融治疗的时间和次数针对不同目标区域的病变类型和不同的治疗方案、以及输送的消融能量的大小和类型进行控制和操作。
在一些实施例中，如图15-18所示，本申请介入设备还可以为一种能量递送装置，用于精准的进入肿瘤、管腔、器官等组织区域，能够与目标区域形成较好的贴靠，并与导航控制设备和消融设备连接，通过与导航控制设备配合进行导航和精准定位，通过消融设备和介入组件对目标区域施加脉冲能量，实现脉冲消融，又不损坏周围正常组织。
本申请能量递送装置包括导向管20、可膨胀结构21、介入组件12和手柄22。导向管20一端与手柄22连接，导向管20的另一端与可膨胀结构21连接。导向管20用于连接手柄22和可膨胀结构21。导向管20内形成有冷却介质通道201，冷却介质通道201一端用于与冷却介质源连通，冷却介质通道201的另一端与可膨胀结构21连通。
在一些实施例中，导向管20内部形成冷却介质通道201，冷却介质经导向管20内部的冷却介质通道201进入可膨胀结构21中。如图18所示，导向管20包括外层管202和内层管203，外层管202与内层管203之间形成冷却介质通道201。内层管203内形成导线通道204。导向管20被配置为双层导管，内层管203内部中空，同时形成冷却介质通道201和导线通道204，结构更加紧凑。
具体地，可膨胀结构21靠近手柄22的一端与外层管202连接，可膨胀结构21的另一端与内层管203连接。内层管203的长度大于外层管202，可膨胀结构21靠近手柄22的一端与外层管202连接，另一端与内层管203连接，冷却介质经可膨胀结构与外层管连接的一端输入，可膨胀结构21与内层管203连接的一端为封闭端，冷却介质不会流出。冷却介质通过位于外层管202和内层管203之间的冷却介质通道201进入可膨胀结构21循环后可以再通过冷却介质通道201原路返回。本申请冷却介质的输入和输出通道为同一通道，在简化结构的同时，有利于精确控制输入可膨胀结构21内的冷却介质体积，从而控制可膨胀结构21的扩张程度。可膨胀结构21随冷却介质的输入而扩张，随冷却介质的输出而收缩，使得能量递送组件更好的与目标区域贴靠和分离。
在一些实施例中，导向管20可以为鞘管。具体地，可以为PEBAX管或尼龙管。导向管20的外层管202的外径为1mm-5mm，外层管202的壁厚为0.025mm-0.5mm，长度至少为40cm；内层管203的内径为0.5mm-3mm,壁厚为0.025mm-0.5mm，长度至少为40cm。例如，外层管202的外径为4mm，壁厚为0.2mm，长度为60cm；内层管203的内径为1.6mm，壁厚为0.2mm，长度为68cm。在另一些实施例中，导向管20与可膨胀结构21和介入组件连接后足够长，以从身体外部延伸到目标区域进行脉冲消融治疗。优选地，导向管20的长度可以为至少50cm、60cm、70cm、80cm、90cm、100cm、110cm、120cm、130cm、140cm或期间的范围。导向管20具有优异的抗折抗弯性能，能够更好的适应人体复杂和弯曲性要求，且导向管20的内壁光滑、摩擦阻力较小。
需要说明的是，冷却介质源用于将冷却介质输入冷却介质通道201，冷却介质源可以为冷却介质注射器或冷却介质供应器。在一些实施例中，冷却介质源可以控制输入可膨胀结构21内冷却介质的体积和压力。本申请通过输入冷却介质控制可膨胀结构21的扩张，当控制冷却介质输出后可膨胀结构21收缩。冷却介质包括但不限于以下中的一种或多种或其组合：水、氯化钠溶液、葡萄糖水溶液、乳酸钠和复方氯化钠溶液、碳酸氢钠和等渗盐水溶液等。在一些实施例中，冷却介质通过吸收热量对可膨胀结构表面进行降温。
具体地，可膨胀结构21被配置为可以随冷却介质的输入而膨胀的囊。在一些实施例中，可膨胀结构21可以扩张为球形囊体、椭圆形囊体、锥形囊体、哑铃形囊体或圆柱形囊体中的一种。在一些实施例中，可膨胀结构21可以由PU、PEBAX或尼龙等材料制成。可膨胀结构21的长度至少为5mm。优选地，可膨胀结构21的长度可以为6mm、7mm、8mm、10mm、12mm、15mm、16mm、18mm、20mm或其期间的范围。优选地，可膨胀结构21的外径范围为4mm-10mm。
具体地，手柄22为控制导向管20将可膨胀结构21和介入组件12递送至目标区域进行治疗的操作手柄。导向管20的一端穿设在手柄22内，并可以通过快干胶，UV胶、环氧胶等胶水与手柄22粘接。在一些实施例中，手柄22可以通过塑料、尼龙或硅胶等材料3D打印或注塑而成。在本申请中，手柄22上设有连通部221，连通部221分别连通冷却介质源和冷却介质通道201。在一些实施例中，连通部221可以为设置在手柄22上的连通孔，冷却介质源通过连通孔与冷却介质通道201连通；在一些实施例中，连通部221可以为设置在手柄22上的连接管，冷却介质源通过连接管与冷却介质通道201连通。在一些实施例中，连接管与手柄22一体成型。
具体地，如图17所示，介入组件12包括输送线120和消融电极121，输送线210一端与消融电极121连接，输送线120的另一端用于与能量供应装置，即消融设备连接。消融电极121呈网状，消融电极121包覆可膨胀结构21。
具体地，消融电极121的两端分别通过连接件23与可膨胀结构21的两端连接。在一些实施例中，连接件23可以为连接套管，优选地，可以为冷缩管或热缩管。本申请消融电极121的两端可以分别通过热缩管与可膨胀结构21的两端固定连接。消融电极121能够随可膨胀结构21的扩张而扩张，随可膨胀结构21的收缩而收缩。当可膨胀结构21收缩时，消融电极121可以同可膨胀结构 21一起随导向管20进入人体；当可膨胀结构21扩张后，消融电极121紧贴在可膨胀结构21表面，消融电极121表面均匀与目标区域贴靠，控制输送线120将脉冲能量传递到消融电极121上，实现脉冲放电。
具体地，输送线120可以为不锈钢丝线、铜线或漆包线。输送线120的线径为0.05mm-0.5mm。在一些实施例中，输送线120的外层套设有PTFE热缩管、PET热缩管或PI鞘管。在一另些实施例中，输送线120的外层还设有PTFE涂层。输送线120用于将脉冲能量传递到消融电极121上。
具体地，消融电极121可以为四边形网状结构。在一些实施例中，消融电极121可以为平行四边形网状结构。优选地，消融电极121可以为菱形网状结构。四边形网格具有不稳定性，容易改变形状，因此消融电极121为四边形网状结构时，网格更加紧密、拉伸性能和结构稳定性更高，可以更好的与可膨胀结构21表面贴合，随可膨胀结构21扩张和收缩，同时网状消融电极121与目标区域的贴合面积更大、更加均匀，治疗效果更好。在一些实施例中，消融电极121可以经切割、编织或电铸制成。消融电极121的材质可以为不锈钢、镍钛合金或钴铬合金等具有良好导电性能的材料。网状消融电极121的线径为0.05mm-0.30mm。消融电极121的长度大于可膨胀结构21的长度，消融电极121的长度至少为5mm。优选地，消融电极121的长度可以为6mm、8mm、10mm、15mm、18mm、20mm或期间的范围。
具体地，导向管20远离手柄22的一端还设有第二位置采集装置11。第二位置采集装置11可以与导向管20的内层管203连接。在一些实施例中，第二位置采集装置11可以通过快干胶、UV胶、环氧胶等胶水与导向管20粘接。在另一些实施例中，第二位置采集装置11还可以通过PU、PET、PTFE或PEEK等热缩管与导向管20连接。
具体地，第二位置采集装置11包括至少一个多自由度磁定位传感器。在一实施例中，第二位置采集装置11包括至少一个五自由度磁定位传感器或六自由度磁定位传感器。第二位置采集装置11与体外探测装置通信连接。在一些实施例中，第二位置采集装置11通过导线24与体外探测装置连接，导线24用于将采集到的位置、方向等信息传输到体外探测装置。如图18所示，导线24穿设在导线通道204内，从手柄22穿出，结构更加紧凑，避免了导线裸露在外的冗余。在另一些实施例中，第二位置采集装置11还可以与体外探测装置无线连接。
具体地，本申请第二位置采集装置11与体外探测装置即导航控制设备连接，通过第二位置采集装置11在磁场空间内的电磁定位系统中实时获取导向管20远离手柄22的一端的移动位置和方向坐标，进行定位，并将导向管20的位置信息，传输给导航控制设备2。
本申请应用上述能量递送装置的步骤：通过手柄22控制导向管20将收缩状态的可膨胀结构21和介入组件12送入体内目标区域，并通过第二位置采集装置11进行导航和精准定位；通过冷却介质源将冷却介质通过冷却介质通道201输入可膨胀结构21；当可膨胀结构21扩张后，消融电极121随可膨胀结构21扩张，并与病变组织均匀贴靠；通过消融设备控制脉冲能量释放，对目标区域进行脉冲治疗；多次脉冲治疗的过程中，可以通过控制冷却介质的输入和输出控制可膨胀结构，同时吸收并带走治疗产生的热量；脉冲治疗的时间和次数针对不同目标区域的病变类型和不同治疗方案、以及递送的脉冲能量的大小进行控制和操作。
本申请消融电极121为网状且包覆在可膨胀结构表面，结构更加紧密、拉伸性能和结构稳定性更高。网状消融电极121与病变组织的贴合面积更大、更加均匀，治疗效果更好。导向管为双层导管，具有冷却介质通道和导线通道，结构紧凑，避免了导线裸露在外的冗余。本申请能量递送装置通过第二位置采集装置的定位和导航，可以引导可膨胀结构和介入组件精准到达目标区域，且结构简单、操作步骤简便，成本较低，便于推广和生产，有利于减轻患者经济负担。
在一些实施例中，如图19-21所示，本申请介入设备还可以为一种可调弯引导管，引导管可以与内窥镜配合使用，也可以单独使用到达更远的病变位置。引导管远端设有第二位置采集装置11，第二位置采集装置11外接导航控制设备2，导航控制设备2通过第二位置采集装置11来跟踪引导管远端的位置，从而实现导航的目的。引导管可以与活检钳、消融导管等介入器械配合进行取样、微波、消融、放疗等精准检查或治疗。
如图19为可调弯引导管的结构示意图。本申请可调弯引导管包括操控部30和近端与操控部30连接的第一层管31和第二层管32，第二层管32设置在第一层管31内，第二层管32与操控部30的内部连通；
具体地，操控部30可以为内部中空的调节手柄或调节杆。操控部30可以 采用塑料、尼龙或硅胶等材料3D打印或注塑而成。第一层管31和第二层管32的近端可以通过快干胶，UV胶、环氧胶等胶水与操控部30粘接。第一层管31套设在第二层管32外，第二层管32可以根据实际需求构造为单腔鞘管或多腔鞘管。在一些实施方式中，引导管可以采用PI/PET/PEBAX/PTFE等挤出管、PI/PTFE复合管、PEBAX和不锈钢丝编织管或多层管。第二层管32的直径可以为0.5mm-5mm，管壁厚可以为0.025mm-0.5mm。在一些实施方式中，第二层管32的长度大于等于第一层管31的长度，第二层管32的远端与第一层管31的远端齐平或突出于第一层管31的远端。在一些实施方式中，第二层管32的长度至少为60cm。优选地，第二层管32的长度至少可以为60cm、70cm、80cm、90cm、100cm、110cm、120cm或期间的范围。在一些实施方式中，第一层管31和第二层管32的直径从近端到远端保持不变。在另一些实施方式中，第一层管31和第二层管32的直径从近端到远端逐渐减小。优选地，第二层管32的近端直径为2mm-5mm，远端直径为0.5mm-3mm。第一层管31和第二层管32的直径逐渐减小有利于增加引导管远端的灵活性，便于引导管随走向弯曲，可以最大程度的避免对人体造成伤害。
具体地，第二层管32的中空管道可以作为活检钳、消融导管等介入器械或药物等外部治疗物进入人体的工作通道。活检钳、消融导管等介入式器械通过引导管的内部中空管道输送可以避免对人体造成摩擦损伤。
具体地，第二层管32远离操控部30的远端设有第二位置采集装置11，第二位置采集装置11与第二层管32的外壁连接。
在一些实施方式中，第二位置采集装置11到第二层管32远端之间的距离为0-2cm。优选地，第二位置采集装置11到第二层管32远端的距离可以为0、0.5cm、1cm、2cm或期间的距离。第二位置采集装置11与第二层管32的外壁连接，不占用第二层管32的中空管道的空间，有利于与取样或消融等介入式器械配合操作。第二位置采集装置11距离第二层管32远端的距离更小，第二位置采集装置11采集的第二层管32远端的位置和方向信息更准确。在一些实施方式中，第二位置采集装置11可以与第二层管32的外壁粘接。在另一些实施方式中，第二位置采集装置11可以通过PU、PET、PTFE或PEEK等热缩管与第二层管32热缩连接。
在一些实施方式中，第二位置采集装置11与传导线33连接，传导线33用 于外接导航控制设备2。具体地，传导线33一端与第二位置采集装置11连接，另一端与导航控制设备2通信连接。具体地，传导线33可以通过激光焊接或锡焊等方式与第二位置采集装置11焊接连接。传导线33可以经第二层管32的中空管道穿出，也可以沿第二层管32与第一层管31之间的间隙穿出。传导线33为单股或多股漆包线，传导线33的线径在0.05mm-0.3mm之间。传导线33用于将第二位置采集装置11采集到的引导管的位置、方向等信息传输到体外导航控制设备2。
具体地，第二位置采集装置11包括至少一个多自由度磁定位传感器，多自由度磁定位传感器与第二层管32的外壁连接。在一些实施方式中，第二位置采集装置11包括至少一个五自由度磁定位传感器或六自由度磁定位传感器。本申请第二位置采集装置11可以获取引导管远端移动的位置和方向坐标，并将引导管的位置信息，传输给导航控制设备2，从而对引导管进行导航和定位。
具体地，操控部30上设有调弯控制件34和调节丝35，调节丝35一端与调弯控制件34连接，调节丝35的另一端用于与第二层管32的调弯段321固定连接。本申请调弯段321设置在第二层管32上，且靠近第二层管32的远端。在一些实施方式中，调弯段321到第二层管32远端的距离为2cm-5cm。优选地，调弯段321到第二层管32远端的距离为2cm、3cm、4cm、5cm或期间的距离。调弯控制件34调弯丝12拉动第二层管32弯曲，调弯段321到第二层管32远端的距离过大或过小都会影响调节丝35带动第二层管32弯曲的灵活度和精确度。
具体地，调弯控制件34与操控部30滑动或转动连接。在一些实施方式中，调弯控制件34可以构造为与操控部30滑动连接的滑块结构。滑块结构可以采用塑料、尼龙或硅胶等材料3D打印或注塑而成。操控部30上设有轨道36，调弯控制件34沿轨道36滑动，以通过调节丝35拉动第二层管32的调弯段321使第二层管32弯曲，控制第二层管32远端方向，从而更精确的到达病变区域。具体地，轨道36可以为导轨滑槽。在另一些实施方式中，调弯控制件34构造为与操控部30连接的转轮结构，调弯控制件34转动拉动调节丝35移动，从而带动第二层管32弯曲。本申请调弯结构简单、易于实现。
具体地，调弯控制件34通过调节丝35拉动第二层管32弯曲的弧度为0-180°。优选地，第二层管32的最大弯曲弧度可以为100°、110°、120°、 150°、160°、180°或期间的范围。本申请调弯控制件34通过调节丝35拉动第二层管32弯曲的弧度较大，第二层管32远端的灵活度增加，能够进入角度更偏僻的病灶位置。本申请第一层管31和第二层管32均具有一定的柔韧性，第一层管31套设在第二层管32外侧，第二层管32弯曲的同时第一层管31随第二层管32弯曲。
具体地，调弯段321外侧设有连接结构37，调弯段321通过连接结构37与调节丝35连接。连接结构37用于连接调节丝35和调弯段321。在一些实施方式中，连接结构37可以构造为固定在调弯段321上的连接管或连接卡子，调节丝35与连接结构37焊接连接。在另一些实施方式中，连接结构37可以为热缩连接管或冷缩连接管，连接结构37套设在调弯段321与调节丝35外侧，连接结构37收缩后，使得调节丝35与调弯段321紧密连接。
具体地，调节丝35为单股或多股金属丝构成的圆形丝绳或扁形丝绳。调节丝35的外径可以为0.05mm-0.3mm。在实际应用中，通过拉动与调弯段321连接的调控丝431，可以控制引导管弯曲。
具体地，调节丝35的外侧套设有弯丝通道38，弯丝通道38沿第二层管32轴向设置，并与操控部30连接。具体地，弯丝通道38套设于调节丝35上，弯丝通道38与第二层管32连接。弯丝通道38的一端与操控部30连接，弯丝通道38的另一端可以与第二层管32外壁焊接连接。弯丝通道38靠近调弯段321的一端距离第二层管32远端的距离为2.5cm-5.5cm。弯丝通道38可以为PTFE或尼龙管，直径为0.15mm-0.35mm。弯丝通道38为供调节丝35移动的移动通道，可以避免调节丝35在受力被拉动的情况下失控或过度弯曲，影响对引导管远端的调节准确性。
本申请可调弯引导管的使用方法：将引导管置入内窥镜的工作通道内，随内窥镜到达肺部，并从通道出口穿出；在第二位置采集装置的导航引导下精准定位并到达病变组织，过程中可以通过调弯控制件和调节丝控制引导管远端弯曲瞄准位置；将活检钳、消融介入组件等介入器械经引导管接入，进行取样、微波、消融或放疗等精准检查或治疗。
本申请可调弯引导管的端部设有第二位置采集装置，通过第二位置采集装置可以对引导管进行定位和导航。引导管还包括调弯控制件和调节丝，通过调弯控制件和调节丝能够控制引导管弯曲。第二位置采集装置与控制引导管弯曲 的调弯控制件和调节丝配合可以更精准的对病变组织进行定位，使引导管远端能够准确的到达更远、更狭窄的病变位置，大大提高了诊断准确率和治疗的精准率，有效减少了诊断和治疗创伤。本申请可调弯引导管结构简单、操作简便，成本较低，实用性较高、便于推广和生产。
在一些实施例中，如图22-25所示，本申请介入设备还可以为一种医用活检取样装置，主要用于临床时对肺部病变组织的取样。取样装置可以与支气管镜配合通过患者的鼻子或嘴进入气管，经过支气管到达肺部，从而对肺周边部病变或弥散性肺病变进行取样。本申请取样装置可以与支气管镜配合使用，还可以通过自带的第二位置采集装置与外部导航控制设备配合进行导航定位、通过调弯件调节引导管和取样件，以精准到达病变位置，获取病变组织。
如图22为本申请活检取样装置的结构示意图，活检取样装置包括调节部40、引导管41、取样件42和调弯件43。引导管41套设于取样件42上，引导管41与调节部40连接。引导管41包括近端和远端，引导管41的近端与调节部40连接。在实际应用中，引导管41的近端可以通过快干胶，UV胶、环氧胶等胶水与调节部40粘接。引导管41的内部为中空结构，用于取样件42推出和收缩的工作通道。引导管41可以为鞘管，根据实际需求可以为单腔鞘管或多腔鞘管。在一些实施方式中，具体地，可以为PI/PET/PEBAX/PTFE等挤出管，或PI/PTFE复合管或PEBAX和不锈钢丝编织管。引导管41的外径可以为0.5mm-5mm，管壁厚可以为0.025mm-0.5mm。引导管41的长度至少为40cm。优选地，引导管41的长度至少可以为40cm、50cm、60cm、70cm、80cm、90cm、100cm、110cm或期间的范围。在一些实施方式中，引导管41的外径从近端到远端逐渐减小。优选地，引导管41的近端外径为2mm-5mm；远端外径为0.5mm-2.5mm。引导管41的外径逐渐减小有利于增加导向管灵活性，便于随支气管走向弯曲，可以最大程度的避免对支气管造成伤害。
具体地，调节部40上设有第一调节件401和第二调节件402。取样件42一端与第一调节件401连接，取样件42的另一端设有取样头421。第一调节件401用于带动取样件42和取样头421从引导管41的远端推出或收缩至引导管41内。
在一些实施方式中，取样件42可以为穿设在引导管41内的金属丝或金属管。取样件42的材料可以为不锈钢，镍钛合金或钴铬合金等具有较好的弯制性能和耐腐蚀性的材料。优选地，可以为304或316不锈钢。取样件42的直径可 以为0.2mm-2mm。取样件42的外层可以设置PTFE涂层，涂层厚度为0.005mm-0.1mm。
在一些实施方式中，取样头421可以为菱形锥头，通过菱形锥头对病灶进行穿刺并取样。在另一些实施方式中，取样头421上沿轴向分布或周向分布有至少一个倒刺结构，通过倒刺结构对病变组织进行穿刺和取样。优选地，取样头421上设有两个倒刺结构。在另一些实施方式中，取样头421的尖端设置有取样槽，通过取样槽进行取样。取样件42可以与取样头421一体成型，取样头421可以通过机加工磨屑或线切割而成。相比于传统的钳式取样头，本申请取样头尺寸更加细小、便于操作和到达精确位置，且取样伤口更小。
如图24所示，本申请活检取样装置包括调弯件43，调弯件43一端与第二调节件402连接，调弯件43的另一端与引导管41的调弯部411连接，调弯件43能够通过调弯部411拉动引导管41弯曲。需要说明的是，调弯部411设置在引导管41上，且靠近引导管41的远端。在一些实施方式中，调弯部411到引导管41远端的距离为0.5cm-6cm。优选地，调弯部411到引导管41远端的距离为0.5cm、1cm、2cm、3cm、4cm、5cm、6cm或期间的距离。具体地，调弯部411到引导管41远端的距离过大会影响调弯件43带动导向管弯曲的灵活度，调弯部411到引导管41远端距离过近会影响调弯件43控制导向管远端的精确度。
在一些实施方式中，调弯件43包括调控丝431，调控丝431一端与第二调节件402连接，调控丝431的另一端与调弯部411连接。第二调节件402能够带动调控丝431移动，以使得调控丝431通过调弯部411拉动引导管41弯曲。调控丝431可以为单股或多股不锈钢丝，调控丝的外径可以为0.1mm-0.3mm。在实际应用中，引导管41的长度不变，通过拉紧与调弯部411固定连接的调控丝431，可以拉动引导管41向一侧弯曲。
在一些实施方式中，调弯件43包括调节管432，调节管432套设于调控丝431上，调节管432与引导管41连接。具体地，调节管432的一端与调节部40连接，调节管432的另一端可以通过热焊接等方式与引导管41固定连接。调节管432为供调控丝431穿过的鞘管，可以是PTFE或尼龙管，外径0.15mm-0.35mm。调节管432为供调控丝431移动的导向通道，可以避免调控丝431在受力被拉动的情况下失控或过度弯曲，影响对引导管远端的调节准确性。
在一些实施方式中，如图24所示，引导管41的调弯部411处设有连固件 44，调控丝431通过连固件44与调弯部411连接。连固件44可以为固定在调弯部411上的连接管或连接卡子，调控丝431与连固件44焊接连接。在另一些实施方式中，如图25所示，连固件44可以为热缩连接管或冷缩连接管，连固件44套设在调弯部411与调控丝431外侧，连固件44收缩后，使得调控丝431与调弯部411紧密连接。
本申请调弯件43拉动引导管41弯曲的弧度为0°-120°。优选地，最大弯曲弧度可以为90°、100°、110°、120°或期间的范围。本申请调弯件43带动引导管41弯曲的弧度较大，以使得引导管41远端带动取样头421移动的灵活度增加，能够进行精细调整，精确到达更远的位置，有效获取病变组织，且调弯件43结构简单、易于实现。
在一些实施方式中，引导管41和调弯件43的外侧套设有导向套管45，导向套管45一端与引导管41远端连接，导向套管45的另一端与调节部40连接。调弯件43带动引导管41弯曲的调弯动作在导向套管45内进行。
具体地，第一调节件401和第二调节件402分别与调节部40滑动或转动连接。调节部40可以为调节手柄或调节杆。调节部40可以通过塑料、尼龙或硅胶等材料3D打印或注塑而成。本申请将控制取样件42的第一调节件401和控制调弯件43的第二调节件402集成于调节部40，通过不同的调节通道分别进行调节，操作更加精确和便利。在一些实施方式中，第一调节件401和第二调节件402可以构造为滑块结构。滑块结构可以通过塑料、尼龙或硅胶等材料3D打印或注塑而成。调节部40上设有第一滑槽和第二滑槽，第一调节件401与第一滑槽滑动连接，第二调节件402与第二滑槽滑动连接。在本实施方式中，第一滑槽和第二滑槽集成为贯穿设置在调节部40上的一个条形槽，第一调节件401和第二调节件402分别连接在条形槽的两侧。控制第二调节件402沿第二滑槽滑动，可以拉动调控丝431移动，调控丝431通过调弯部411拉动引导管41弯曲，从而控制引导管远端的方向，以更精确的到达病灶。控制第一调节件401沿第一滑槽滑动，拉动取样件42移动，可以控制取样头421从引导管41的远端推出或收缩，以更精准的获取病变组织。在另一些实施方式中，第一调节件401和第二调节件402可以被构造为转轮结构，通过转动第一调节件401可以带动取样件42移动，以控制取样头421从引导管41远端推出或收缩。第二调节件402转动可以带动调控丝431移动，以使得调控丝431通过调弯部411拉动 引导管41弯曲。
在一些实施方式中，第一调节件401控制取样头421从引导管41远端推出的最大推出距离为10cm。优选地，取样头421的最大推出距离可以为5cm、6cm、7cm、8cm、9cm、10cm或期间的距离。
具体地，如图23所示，取样件42上设有第二位置采集装置11，第二位置采集装置11靠近取样头421设置。在一些实施方式中，第二位置采集装置11与取样头421之间的距离可以为0-3cm。优选地，第二位置采集装置到取样头421的距离可以为0.5cm、1cm、2cm、3cm或期间的距离。本申请第二位置采集装置距离取样头421的距离更小，采集的取样头421的位置和方向信息更准确。在一些实施方式中，第二位置采集装置11可以通过快干胶、UV胶、环氧胶等胶水与取样件42粘接。在一些实施方式中，第二位置采集装置11还可以通过PU、PET、PTFE或PEEK等热缩管与取样件42连接。在一些实施方式中，第二位置采集装置与取样头421一同收缩到导向管内。
在一些实施方式中，第二位置采集装置11通过信号线46与体外导航控制设备2连接。信号线46穿设在引导管41内，并通过调节部40上开设的通孔穿出与体外导航控制设备连接。信号线46可以是单股或多股漆包线，信号线46的线径在0.05mm-0.3mm之间。信号线46与第二位置采集装置11可以通过激光焊接或锡焊等方式焊接连接。信号线46用于将第二位置采集装置11采集到的位置、方向等信息传输到导航控制设备。具体地，第二位置采集装置11包括至少一个多自由度磁定位传感器。在一些实施方式中，第二位置采集装置11包括至少一个五自由度磁定位传感器或六自由度磁定位传感器。第二位置采集装置11可以实时获取取样头421移动的移动的位置和方向坐标，并将取样头421的位置信息传输给导航控制设备2，导航控制设备2根据获取的位置信息对取样头421进行导航和定位。
本申请应用上述活检取样装置实现取样的步骤：将第二位置采集装置11的信号线46与体外导航控制设备2连接，取样头收缩至引导管内；将引导管置入支气管镜工作通道内，随支气管镜到达肺部，并从通道出口穿出；在第二位置采集装置11和体外导航控制设备的导航引导下精准定位并到达病变区域，过程中可以通过第二调节件402拉动调弯件43控制引导管41弯曲瞄准位置；通过第一调节件401控制取样头421从引导管远端推出进行穿刺并取样；通过第一 调节件401控制取样后的取样头421收缩回引导管，随后将取样装置从支气管镜工作通道取出，取下组织样本。
本申请将控制取样件的第一调节件和控制调弯部的第二调节件集成于调节部，通过不同的调节通道分别进行调节，操作更加便利。通过调弯件能够控制引导管远端进行调弯，且弯曲弧度增加，以使得引导管带动取样件的弯曲的灵活性增加，能够进行精细调整，更加准确的到达病变区域并取样，同时取样后也能灵活退出。本申请取样装置设有第二位置采集装置，通过第二位置采集装置和体外导航控制设备的导航和定位可以引导取样件直接到达病变区域处，提高取样准确率，可有效避免取样失败和重复取样的问题。活检取样装置结构简单、操作简便，成本较低，便于推广和生产，有利于减轻患者经济负担。
本申请导航控制设备2用于基于目标介入区域的区域图像信息、介入组件12的形态属性信息、运动位置信息和介入位置信息进行虚拟模型构建，得到导航三维模型和操作对象三维模型，导航三维模型用于表征目标介入区域的三维空间特征、介入组件12的三维空间特征，以及待消融对象、介入组件12与目标介入区域间的空间位置信息，操作对象三维模型用于表征待消融对象的三维空间特征。
具体地，如图26所示，本申请导航控制设备2包括：
介入区域子模型构建模块021，用于对目标介入区域的区域图像信息进行图像识别处理，得到图像识别结果；并基于图像识别结果进行图像重构，得到介入区域子模型和操作对象三维模型，介入区域子模型用于表征目标介入区域的三维空间特征。
需要说明的是，本申请目标介入区域的区域图像信息可以为目标介入区域的CT图像或核磁图像。通过对目标介入区域的CT图像或核磁图像进行图像识别处理可以提取目标介入区域的三维数据和操作对象的三维数据为构建三维模型提供数据支持。当目标介入区域的CT图像为目标对象的肺部CT图像时，通过对肺部CT图像进行图像识别处理可以提取肺支气管的三维数据和肺支气管内病变组织区域的三维数据，根据肺支气管的三维数据和肺支气管内病变组织区域的三维数据进行图像重构，得到肺支气管三维模型和病变组织三维模型。
介入组件子模型构建模块022，用于根据介入组件12的形态属性信息进行虚拟模型构建，得到介入组件子模型，介入组件子模型用于表征介入组件12的 三维空间特征。具体地，入组件的形态属性信息包括介入组件12的型号、规格等信息，根据介入组件12的型号和规格信息进行模型构建，得到介入组件子模型。本申请介入组件子模型为介入组件12的三维模型。
融合模块023，用于根据介入位置信息和运动位置信息，对介入区域子模型、操作对象三维模型和介入组件子模型进行空间融合处理，得到导航三维模型。
具体地，融合模块023先根据实时获取的介入组件12的介入位置信息和运动位置信息与介入组件子模型的坐标进行动态匹配，获取动态的介入组件子模型，然后将动态的介入组件子模型实时显示在静态的介入区域子模型内，即对介入区域子模型、操作对象三维模型和介入组件子模型进行空间融合处理，得到导航三维模型。本申请导航三维模型可以直观显示介入组件12在目标介入区域内的动态轨迹和实时位置，为手术过程中确定介入组件位置提供至关重要的帮助。
导航控制设备2还包括导航规划模块024，导航规划模块024与导航三维模型通信连接。
导航规划模块024用于根据介入区域子模型、操作对象三维模型进行导航规划，得到介入组件12在介入区域子模型内的导航路径，导航路径用于指示介入组件12在目标介入区域内抵达待消融对象过程中所需途径的行进路径。
需要说明的是，本申请导航规划模块024可以根据介入区域子模型和操作对象三维模型，对介入组件12在目标介入区域内抵达待消融对象的移动路径进行导航规划，得到介入组件12在介入区域子模型内的导航路径，生成相应的二维、三维和导航数据，同时在导航三维模型内显示规划好的从介入组件入口处到待消融对象的导航路径。在一些可能的实施例中，导航三维模型内可以突出显示出规划好的导航路径的路径关键点，术者可以根据显示的导航路径控制介入组件12在导航三维模型内移动，操控介入组件12抵达待消融对象。
在一些实施例中，导航规划模块024还用于在介入组件12在目标介入区域的运动过程中，基于介入组件12的介入位置信息和运动位置信息确定介入组件12的介入轨迹信息；若介入轨迹信息与导航路径对应的路径轨迹信息满足预设偏差条件，对介入组件12在目标介入区域中的介入位置进行修正，至介入组件12的更新的介入轨迹信息与路径轨迹信息相匹配。
需要说明的是，具体地，在介入组件12在目标介入区域的运动过程中，根 据介入组件12的介入位置信息和运动位置信息可以确定介入组件12的实时介入轨迹信息，根据介入组件12的实时介入轨迹信息生成介入轨迹的轨迹关键点，将轨迹关键点与规划好的导航路径的路径关键点进行动态匹配运算；当轨迹关键点与规划好的导航路径的路径关键点的匹配度满足预设偏差条件时，对介入组件12在目标介入区域中的实时介入位置进行修正，至介入组件12的实时介入轨迹信息与路径轨迹信息相匹配。本申请预设偏差条件为介入轨迹的轨迹关键点与规划好的导航路径的路径关键点之间的偏差是否超过预设偏差阈值，当介入轨迹的轨迹关键点与路径关键点之间的偏差大于预设偏差阈值，则对介入组件12在目标介入区域中的实时介入位置进行修正；当介入轨迹的轨迹关键点与规划好的导航路径的路径关键点之间的偏差小于等于预设偏差阈值，则控制介入组件12沿导航路径继续移动。本申请通过对介入组件12的实时介入轨迹与导航路径的动态匹配可以在介入组件12在目标介入区域的运动过程中随时调整介入组件12的移动方向，避免介入组件12偏移导航路径迷路或对周围健康组织造成伤害，提高导航准确度。
在一些可能的实施方式中，当导航三维模型中出现导航路径相面模糊或被遮挡的情况，术者依旧可以根据所显示的导航三维模型判断路径前方是否为通路，并判断是否继续沿规划好的导航路径运动。例如，肺支气管的导航三维模型内出现相面模糊或被遮挡的情况，通常是支气管通道内的肺部粘液造成的，术者根据显示的导航三维模型可以判断出遮挡前方的支气管为通路时，可以继续向前探索，利用粘液的粘性特质，当介入组件12的前端遇到粘液时，根据导航路径的导向，继续向前输送一段距离，就可以冲出粘液，使得粘液沿着气管壁顺流，而不再贴粘在介入组件12的前端上，从而解决视野模糊受干扰的问题，节约手术时间。
如图26和27所示，导航控制设备2还包括初始参数获取模块025和目标参数确定模块026。
初始参数获取模块025用于获取待消融对象的对象属性信息所对应的初始消融参数、待消融对象的阻抗数据、介入组件12的贴靠参数和待消融对象的介电常数，初始消融参数至少包括脉冲电压、脉冲宽度、脉冲时间和脉冲频率中的至少一个。
需要说明的是，本申请待消融对象的对象属性信息包括且不限于病变组织 的病变类型和病变程度信息；待消融对象的阻抗数据可以指示介入组件12当前的负载情况；介入组件12的贴靠参数包括且不限于介入组件12与支气管的贴靠面积和接触长度等信息。
本申请根据待消融对象的介电常数可以判断当前待消融对象的组织特性。具体地，不同的细胞有不同的电穿孔阈值，因此不同组织的介电常数不同，通过不同组织的介电常数比例就能指导不同组织占比进而确定组织中不同细胞的含量。在一些可能的实时方式中，介电常数的检测可以利用产生5KHz-300MHz中多个频率的正弦激励信号，激发反应细胞组织在不同频率信号下所对应的复阻抗电信号的变化，然后将这些信号通过如傅里叶变换等方法转换成频域的信号，从而得到组织的介电常数。本申请根据消融前和消融后的待消融对象的介电常数的对比，可以了解待消融对象对应的支气管组织中不同种类细胞的含量的变化，从而可以帮助评估消融参数的有效程度。
目标参数确定模块026用于根据导航三维模型、操作对象三维模型、待消融对象的对象属性信息、待消融对象的对象属性信息所对应的初始消融参数、待消融对象的阻抗数据、介入组件12的贴靠参数和待消融对象的介电常数进行消融效果评估，得到初始消融参数对应的消融效果数据；若消融效果数据满足目标消融条件，将初始消融参数确定为目标消融参数。
如图28是本申请脉冲能量对肺部消融效果的仿真、评估及显示的原理图。
需要说明的是，本申请阻抗数据与脉冲电压、脉冲宽度、脉冲时间和脉冲频率等参数一起，可以计算出当前加载到待消融对象的脉冲能量。通过阻抗的变化率可以得到介入组件12的贴靠参数，从而判断出介入组件12与待消融对象的贴靠质量。在一些可能的实施方式中，通过介入组件12的贴靠参数可以计算出支气管的内壁直径，从而判断支气管粘膜层的厚度。如图29所示为支气管的内径与接触长度的关系，当介入组件12的型号和规格不变，介入组件12与支气管的接触长度随着支气管的内径增加而减小。进一步地，根据阻抗数据可通过仿真进一步得到支气管内径、消融范围、贴靠参数、脉冲参数和支气管厚度与消融效果之间的关系。例如，在一些实施方式中，如图30所示，选取支气管内壁接触处中央深度大约0.5mm处点作为表征消融效果的标记点，当介入组件12与支气管的接触长度为5.0mm、7.5mm、10.0mm、12.5mm和15.0mm时，对应的场强分别大约为1220V/cm、1120V/cm、900V/cm、1000V/cm和 1125V/cm，当接触长度大约为11.0mm时场强最小，大约为900V/cm，随着支气管级数增加、内径减小，介入组件12与支气管的接触长度增加，标记点处场强有减小趋势，但最小场强不小于900V/cm,可以满足达到预设的消融效果时的阈值场强，治疗效果没有显著降低。如图31所示，选取支气管内壁接触处中央深度大约0.5mm处点作为表征消融效果的标记点，随着支气管壁厚增加，当介入组件12与支气管的接触长度为5.0mm、7.5mm、10.0mm、12.5mm和15.0mm时，对应的场强分别大约为1600V/cm、1310V/cm、1120V/cm、1060V/cm、1080V/cm和1200V/cm，当接触长度大约为10.0mm时场强最小，大约为1060V/cm，随着支气管壁厚增加，介入组件12与支气管的接触长度增加，标记点处场强有减小趋势，但最小场强不小于1000V/cm,可以满足达到预设的消融效果时的阈值场强。很明显，本申请中，当支气管内径减小或者支气管壁厚增加时，增加介入组件12与支气管的接触长度，并不会对消融效果产生较大的影响。
具体地，目标参数确定模块026包括仿真消融模型构建单元0261。
仿真消融模型构建单元0261用于基于对象属性信息、初始消融参数、阻抗数据、贴靠参数、介电常数、操作对象三维模型和导航三维模型作为消融评估模型的输入，进行消融效果仿真，得到初始消融参数对应的仿真消融模型，仿真消融模型用于表征初始消融参数对应的消融效果数据。
需要说明的是，仿真消融模型构建单元0261将对象属性信息、初始消融参数、阻抗数据、贴靠参数、介电常数、操作对象三维模型和导航三维模型一起输入到消融评估模型中进行消融效果仿真，得到初始消融参数对应的仿真消融模型。本申请消融评估模型可以是通过预先仿真的数据以及临床收集的数据建立的消融评估数据库。预先仿真的数据为根据阻抗数据仿真得到的支气管内径、消融范围、贴靠参数、脉冲参数和支气管厚度与消融效果之间的关系数据。本申请根据仿真消融模型可以直观的观察到基于初始消融参数生成的脉冲能量对肺部组织的消融范围和消融效果，并可以直观的帮助术者判断初始消融参数是否需要调整。如图32所示，设置脉冲电压幅度为1500V时生成的仿真消融模型中脉冲能量对肺部组织的消融效果，可以看出支气管中绝大部分区域被消融。
在一些实施例中，在仿真消融模型中可以通过消融模型的颜色区分指示基于不同初始消融参数对肺部组织的消融范围和消融效果，术者就可以根据仿真消融模型，调整初始消融参数，也可以以此来规避可能的风险。如图33本申请 支气管组织的病理结构图，如图34所示的仿真模型中可以看出对不同初始消融参数预测生成的脉冲能量对支气管组织黏膜层的浅表消融、部分消融和完全消融的消融效果。
需要说明的是，当得到的初始消融参数对应的消融效果数据满足目标消融条件后，则将该初始消融参数确定为目标消融参数。在一些可能的实施例中，目标消融条件包括通过仿真消融模型观察到的肺部组织消融范围和消融效果达到需要消融的效果，且消融后待消融对象的介电常数满足预设条件，即消融后支气管组织中不同种类细胞的含量达到正常组织标准。
需要说明的是，本申请可以在消融前将对象属性信息、初始消融参数、阻抗数据、贴靠参数、介电常数、操作对象三维模型和导航三维模型一起输入到消融评估模型中进行消融效果仿真，得到仿真消融模型，以根据仿真消融模型对消融前的消融效果提前进行指示，进而对初始消融参数和消融次数进行优化，从而提高治疗的有效性。在另一些实施例中，还可以在消融后将更新的对象属性信息、消融参数、阻抗数据、贴靠参数、介电常数、操作对象三维模型和导航三维模型一起输入到消融评估模型中进行消融后的效果仿真，从而帮助判断是否消融有效。对消融后的消融效果进行消融效果评估还可以用于优化消融评估数据库，帮助优化和学习，以此提高评估的质量。
导航控制设备2包括脉冲能量发生模块027。
脉冲能量发生模块027，用于基于目标消融参数生成能量发生控制信号，以控制消融设备4运行。
具体地，导航控制设备2还包括消融三维模型生成模块028，用于在介入组件12对待消融对象进行消融处理之后，获取介入组件12的消融轨迹信息和消融数据；根据消融轨迹信息、消融数据和目标消融参数生成消融三维模型，消融数据包括已消融处理的消融区域和消融区域的消融位置信息，消融三维模型表征消融后的待消融对象的三维空间特征。
需要说明的是，本申请消融三维模型用于记录介入组件12在目标介入区域中的消融轨迹信息和消融数据。在一些可能的实施方式中，消融数据包括已消融处理的消融区域和消融区域的消融位置信息。在另一些可能的实施方式中，消融数据还包括介入组件12在已消融处理的消融区域和消融区域的消融参数、消融时间和消融状态等信息。通过本申请消融三维模型，术者可随时回顾观察 介入组件12的消融轨迹信息和消融数据，在“复杂”的肺支气管“迷宫”内，这些信息为术者判断哪些部位已经消融，哪些部位仍未消融，提供了非常重要的数据支撑，可有效提高手术效率，降低手术重复消融的可能。
如图35和36所示，本申请消融设备4的控制电路包括脉冲电源041、开关电路042和输出接口043，其中，脉冲电源041与开关电路042电连接，输出接口043用于与介入设备1电连接，开关电路042包括至少两条并联、全桥、半桥或串联连接的分支电路0421，每条分支电路0421均包括输入端开关模块4211和输出端开关模块4212，开关电路042响应于脉冲能量发生模块027的能量发生控制信号控制对应的输入端开关模块4211和输出端开关模块4212导通，生成脉冲能量。
进一步地，分支电路0421还包括电容模块4213，电容模块4213包括多个串联或并联连接的电容组。其中，每个电容组可根据不同输出包括不同型号和不同数量的电容。通过控制分支电路0421上输入端开关模块4211和输出端开关模块4212的启动与断开，可以在输入端实现向电容模块4213内的电容充电，在输出端实现不同电压幅度的脉冲能量输出。在一些可能的实施方式中，通过控制电容模块4213的充放电时间，可以实现不同电压幅度的脉冲能量输出。在另一些可能的实施方式中，通过多路可控的分支电路0421组合和对不同分支电路0421上对应输入端开关模块4211和输出端开关模块4212的控制，还可以控制脉冲能量的输出与电容模块4213的充电分时进行，提高了电路安全性，且更加方便高效。
更进一步地，分支电路0421还包括二极管模块4214，二极管模块4214包括多个二极管，多个二极管之间呈现正反向排列组合。二极管模块4214的设置使得在开关电路042充电和放电过程中控制不同分支电路0421上各个开关的状态，可以实现给特定的电容充电或放电，同时在放电期间电容组的电容不会反向充电，减小了电容组电容中能量不必要的损失。
更进一步地，分支电路0421还包括滤波模块4215，滤波模块4215包括多个滤波单元，滤波单元包括多种滤波器和滤波选择器，滤波选择器用于选择不同的滤波器进行滤波处理。在一些可能的实施方式中滤波单元包括低通滤波器、高通滤波器、带通滤波器、带阻滤波器和全通滤波器中的一种或多种。本申请能量发生单元通过利用不同滤波器或不同的滤波器组合进行滤波处理，可以实 现不同频率和形态的脉冲能量的输出。在一些可能的实施方式中，通过选用不同滤波器或不同的滤波器组合进行滤波处理，可以实现正弦波、方波、三角波等不同波形或组合波形的脉冲能量输出。
在一些可能的实施方式中，分支电路0421可以包括但不限于输入端开关模块4211、电容模块4213、二极管模块4214、滤波模块4215和输出端开关模块4212。
本申请消融设备的开关电路通过多个分支电路0421的连接和不同分支电路0421上对应输入端开关模块4211和输出端开关模块4212的控制，可以实现脉冲能量的幅度、脉宽、间隔、数量或方向等的若干种组合。通过对分支电路0421上对应输入端开关模块4211和输出端开关模块4212的控制和滤波模块4215配合，可以实现不同频率和形态的脉冲能量的输出。基于本申请开关电路，消融设备可以在一组脉冲能量中具备不同的电压幅度、频率和脉冲形态的变化，生成更针对性的脉冲能量，在增加治疗效果的同时有利于减少在消融治疗过程中带来的刺激反应问题，提高治疗安全性。
具体地，应用本申请对象消融系统对肺部支气管内病症进行治疗的步骤包括：
通过操作柄16将收缩状态的介入组件12送入肺支气管；
采集目标对象的运动位置信息，并传输至导航控制设备2；
采集装置采集介入组件12在肺支气管中的介入位置信息，并传输至导航控制设备2；
基于肺部CT图像进行虚拟模型构建，得到肺支气管三维模型和病变组织三维模型；根据介入组件12的形态属性信息进行虚拟模型构建，得到介入组件子模型；根据介入位置信息和运动位置信息，对肺支气管三维模型、病变组织三维模型和介入组件子模型进行空间融合处理，得到导航三维模型；
根据肺支气管三维模型、病变组织三维模型进行导航规划，得到介入组件12在肺支气管三维模型内的导航路径，并生成相应的二维和三维导航数据；
在介入组件12在肺支气管内的运动过程中，根据导航路径随时对介入组件12在肺支气管内的实时介入位置进行修正，至介入组件12在肺支气管内抵达病变组织区域；
通过操作柄16上的操控组件17控制介入组件12的扩张程度，使介入组件 12与病变组织均匀贴靠；
获取病变组织的对象属性信息所对应的初始消融参数、病变组织的阻抗数据、介入组件12的贴靠参数和病变组织的介电常数；
基于所述对象属性信息、初始消融参数、阻抗数据、贴靠参数、介电常数、病变组织三维模型和所述导航三维模型作为消融评估模型的输入，进行消融效果仿真，得到初始消融参数对应的仿真消融模型；
根据仿真消融模型，若初始消融参数对应的消融效果数据满足目标消融条件，确定目标消融参数；
基于目标消融参数生成能量发生控制信号，以控制消融设备4运行；
消融设备4响应于能量发生控制信号控制对应的开关电路042导通，生成脉冲能量；
将脉冲能量传输至介入设备1，以使介入组件12对病变组织进行消融处理；
获取介入组件12的消融轨迹信息和消融数据，根据所述消融轨迹信息、消融数据和目标消融参数生成消融三维模型。
本申请还提供一种对象消融控制方法，如图37是一种对象消融控制方法的流程图，方法包括：
S101：接收第一位置采集装置采集的目标对象的运动位置信息和第二位置采集装置采集的介入组件在目标介入区域中的介入位置信息，目标介入区域属于目标对象。
S102：基于目标介入区域的区域图像信息、介入组件的形态属性信息、运动位置信息和介入位置信息进行虚拟模型构建，得到导航三维模型和操作对象三维模型，导航三维模型用于表征目标介入区域的三维空间特征、介入组件的三维空间特征，以及待消融对象、介入组件与目标介入区域间的空间位置信息，操作对象三维模型用于表征待消融对象的三维空间特征。
S103：根据导航三维模型、操作对象三维模型和待消融对象的对象属性信息，确定待消融对象对应的目标消融参数。
S104：控制消融设备基于目标消融参数运行，以使介入组件对待消融对象进行消融处理。
进一步地，步骤S102还包括：
S1021：对目标介入区域的区域图像信息进行图像识别处理，得到图像识别 结果；并基于图像识别结果进行图像重构，得到介入区域子模型和操作对象三维模型，介入区域子模型用于表征目标介入区域的三维空间特征。
S1022：根据介入组件的形态属性信息进行虚拟模型构建，得到介入组件子模型，介入组件子模型用于表征介入组件的三维空间特征。
S1023：根据介入位置信息和运动位置信息，对介入区域子模型、操作对象三维模型和介入组件子模型进行空间融合处理，得到导航三维模型。
进一步地，步骤S102还包括：
S1024：根据介入区域子模型、操作对象三维模型进行导航规划，得到介入组件在介入区域子模型内的导航路径，导航路径用于指示介入组件在目标介入区域内抵达待消融对象过程中所需途径的行进路径。
进一步地，步骤S102还包括：
S1025：在介入组件在目标介入区域的运动过程中，基于介入组件的介入位置信息和运动位置信息确定介入组件的介入轨迹信息；若介入轨迹信息与导航路径对应的路径轨迹信息满足预设偏差条件，对介入组件在目标介入区域中的介入位置进行修正，至介入组件的更新的介入轨迹信息与路径轨迹信息相匹配。
进一步地，步骤S103还包括：
S1031：获取待消融对象的对象属性信息所对应的初始消融参数、待消融对象的阻抗数据、介入组件的贴靠参数和待消融对象的介电常数，初始消融参数至少包括脉冲电压、脉冲宽度、脉冲个数和脉冲组数中的至少一个。
S1032：根据导航三维模型、操作对象三维模型、待消融对象的对象属性信息、待消融对象的对象属性信息所对应的初始消融参数、待消融对象的阻抗数据、介入组件的贴靠参数和待消融对象的介电常数进行消融效果评估，得到初始消融参数对应的消融效果数据；若消融效果数据满足目标消融条件，将初始消融参数确定为目标消融参数。
进一步地，步骤S103还包括：
S1033：基于对象属性信息、初始消融参数、阻抗数据、贴靠参数、介电常数、操作对象三维模型和导航三维模型作为消融评估模型的输入，进行消融效果仿真，得到初始消融参数对应的仿真消融模型，仿真消融模型用于表征初始消融参数对应的消融效果数据。
进一步地，步骤104还包括：
S1041：基于目标消融参数生成能量发生控制信号，以控制消融设备运行。
进一步地，对象消融控制方法还包括：
S105：在介入组件对待消融对象进行消融处理之后，获取介入组件的消融轨迹信息和消融数据；根据消融轨迹信息、消融数据和目标消融参数生成消融三维模型，消融数据包括已消融处理的消融区域和消融区域的消融位置信息，消融三维模型表征消融后的待消融对象的三维空间特征。
本申请还提供了一种对象消融控制装置，装置可以包括下述模块。
信息接收模块：用于接收第一位置采集装置采集的目标对象的运动位置信息和第二位置采集装置采集的介入组件在目标介入区域中的介入位置信息，目标介入区域属于目标对象；
模型构建模块：用于基于目标介入区域的区域图像信息、介入组件的形态属性信息、运动位置信息和介入位置信息进行虚拟模型构建，得到导航三维模型和操作对象三维模型，导航三维模型用于表征目标介入区域的三维空间特征、介入组件的三维空间特征，以及待消融对象、介入组件与目标介入区域间的空间位置信息，操作对象三维模型用于表征待消融对象的三维空间特征；
参数确定模块：用于根据导航三维模型、操作对象三维模型和待消融对象的对象属性信息，确定待消融对象对应的目标消融参数；
对象控制模块：用于控制消融设备基于目标消融参数运行，以使介入组件对待消融对象进行消融处理。
一些实施例中，模型构建模块包括：
介入区域子模型构建模块，用于对目标介入区域的区域图像信息进行图像识别处理，得到图像识别结果；并基于图像识别结果进行图像重构，得到介入区域子模型和操作对象三维模型，介入区域子模型用于表征目标介入区域的三维空间特征。
介入组件子模型构建模块，用于根据介入组件的形态属性信息进行虚拟模型构建，得到介入组件子模型，介入组件子模型用于表征介入组件的三维空间特征。
融合模块，用于根据介入位置信息和运动位置信息，对介入区域子模型、操作对象三维模型和介入组件子模型进行空间融合处理，得到导航三维模型。
进一步地，模型构建模块还包括导航规划模块，导航规划模块与导航三维 模型通信连接：
导航规划模块用于根据介入区域子模型、操作对象三维模型进行导航规划，得到介入组件在介入区域子模型内的导航路径，导航路径用于指示介入组件在目标介入区域内抵达待消融对象过程中所需途径的行进路径。
进一步地，导航规划模块还用于在介入组件在目标介入区域的运动过程中，基于介入组件的介入位置信息和运动位置信息确定介入组件的介入轨迹信息；若介入轨迹信息与导航路径对应的路径轨迹信息满足预设偏差条件，对介入组件在目标介入区域中的介入位置进行修正，至介入组件的更新的介入轨迹信息与路径轨迹信息相匹配。
在一些实施例中，参数确定模块包括：
初始参数获取模块用于获取待消融对象的对象属性信息所对应的初始消融参数、待消融对象的阻抗数据、介入组件的贴靠参数和待消融对象的介电常数，初始消融参数至少包括脉冲电压、脉冲宽度、脉冲个数和脉冲组数中的至少一个；
目标参数确定模块用于根据导航三维模型、操作对象三维模型、待消融对象的对象属性信息、待消融对象的对象属性信息所对应的初始消融参数、待消融对象的阻抗数据、介入组件的贴靠参数和待消融对象的介电常数进行消融效果评估，得到初始消融参数对应的消融效果数据；若消融效果数据满足目标消融条件，将初始消融参数确定为目标消融参数。
进一步地，目标参数确定模块还包括：
仿真消融模型构建单元，用于基于对象属性信息、初始消融参数、阻抗数据、贴靠参数、介电常数、操作对象三维模型和导航三维模型作为消融评估模型的输入，进行消融效果仿真，得到初始消融参数对应的仿真消融模型，仿真消融模型用于表征初始消融参数对应的消融效果数据。
进一步地，对象控制模块包括：
脉冲能量发生模块，用于基于目标消融参数生成能量发生控制信号，以控制消融设备运行。
在一些实施例中，对象消融控制装置还包括：
消融三维模型生成模块，用于在介入组件对待消融对象进行消融处理之后，获取介入组件的消融轨迹信息和消融数据；根据消融轨迹信息、消融数据和目 标消融参数生成消融三维模型，消融数据包括已消融处理的消融区域和消融区域的消融位置信息，消融三维模型表征消融后的待消融对象的三维空间特征。
本申请对象消融系统、控制方法、装置、介质及电子设备中还提供一种脉冲消融效果评估方法及装置可以应用于肺部组织的消融治疗。但本申请并不限定于此，本申请实施例提供的技术方案还可以对其他身体部位，例如胃部，进行消融。下文中以肺部消融为例，对本申请实施例进行说明。
图38是本申请实施例提供的脉冲消融效果评估方法的一个流程图，如图38所示，本申请实施提供的脉冲消融效果评估方法可以包括如下步骤：
S110：对消融导管处的当前组织进行标测建模，得到当前组织的三维模型；
本申请实施例将三维导航系统和内窥镜配合使用。通过三维导航系统在手术过程中对肺部支气管进行建模，构建当前进行手术时肺部模型，术者可以从导航界面上观察到肺部的整体支气管结构和走向。同时通过内窥镜可以直观的观察到肺部支气管的位置和内部情况。如此，既能观察到肺部的整体支气管结构和走向，又能观察到肺部支气管的位置和内部情况，与现有技术相比能够更全面的了解肺部的情况。
另外本申请实施例还配合了预测和消融导航的功能，医生可以通过输入初始参数，通过导管配合内窥镜进入肺部，导管根据输入的参数和当前的气管厚度和位置预测出消融的深度和范围，呈现给医生，供医生参考和调整参数。
图39是本申请实施例提供的脉冲消融效果评估系统的连接框图，如图39所示，消融导管分别通过脉冲输出回路和电极回路与脉冲电场消融装置连接，脉冲电场消融装置分别通过通信回路和电极回路与三维导航系统连接，消融导管与患者之间通过耗材连接。
图40是本申请实施例提供的脉冲消融效果评估方法的原理框图，具体的如图40所示，三维导航系统通过磁定位采集数据。消融导管通过阻抗/贴靠检测确定当前组织的阻抗以及导管的贴靠状态，通过网篮的张开和贴靠范围来判断组织的内壁直径，并且通过采集介电常数判断当前的组织特性。介电常数得到的信息就可以得到对应组织的一些特性，因为不同的细胞有不同的电穿孔阈值，进而可以用于评估消融的能量是否能够达到要求。
消融导管将采集到的阻抗、介电常数和网篮数据传输给脉冲电场消融系统，与脉冲电场消融系统所设置的消融参数一起输入消融状态评估模型中进行计算； 三维导航系统能够与脉冲消融装置进行数据交互；三维导航系统能够生成消融效果评估所需的当前组织的三维模型，这里的当前组织可以是肺部支气管组织。
S120：获取待评估数据；
具体的，待评估数据包括消融导管采集的检测数据、消融装置的消融参数和网篮状态数据；
具体地，消融参数包括脉冲电压、脉冲宽度、脉冲个数和脉冲组数中的一个或多个。
具体地，网篮状态数据包括网篮张开状态数据和网篮与当前组织的贴靠面积，网篮张开状态数据和贴靠面积用于确定待消融区域的厚度。通过网篮张开的大小和贴靠面积可以确定支气管内壁的直径(即支气管的内径，而非支气管的外径，支气管的外径是含软骨的)，从而得到支气管粘膜层的厚度，这里的待消融区域就是粘膜层这部分区域。
肺部支气管组织结构：支气管主要分为：上皮细胞(有纤毛的假复层，假复层之间夹着杯状细胞，杯状细胞分泌少量粘液)；固有层(基底膜和松散的结缔组织同上皮细胞和固有层一起，构成了粘膜)；粘膜底层(平滑肌&更多的结缔组织)。而位于结缔组织处的粘液腺就是分泌大部分粘液的地方，在对肺部进行消融等场景下，脉冲消融对象主要是消融粘膜层中的粘液腺体和杯状细胞。
S130：将待评估数据输入预先训练好的消融状态评估模型，得到消融状态评估结果；消融状态评估模型能够根据待评估数据和待评估数据与消融状态的对应关系，计算出待评估数据对应的消融状态评估结果；消融状态评估结果包括消融范围、消融深度和消融有效程度。
在一些可能的实施例中，可以通过对比消融前后的介电常数来判断消融有效程度，因为电穿孔下不同细胞组织的阈值是不一样的，通过了解支气管组织中不同种类细胞的含量可以帮助评估消融的参数的有效程度。
肺部消融主要是消融支气管粘膜层中的异常组织(如杯状细胞和粘液腺)，所以通过仿真数据、阻抗/贴靠数据，介电参数，配合当前设定的消融参数，输入消融状态评估模型，可以对消融效果进行有效的评估。
其中，仿真数据为根据阻抗数据仿真得到的支气管内径、消融范围、贴靠参数、脉冲参数和支气管厚度与消融效果之间的关系数据。
评估过程可以是在消融前，这样就可以对消融前的效果提前进行指示，进而指导术者消融的参数以及次数。当然也可以在消融后，这样术者可以帮助判断是否消融有效。而且消融后，可以通过重新的标测评估，判定消融的范围和效果以此来进行优化，从而提高治疗的有效性。
S140：在当前组织的三维模型中展示消融状态评估结果。
当消融前的标测建模完成，需要评估的数据也一并获悉，就可以在三维系统中基于图33所示的支气管病理结构图，通过消融模型的颜色区分指示消融参数后消融的评估，得到如图34所示的消融范围预测图，术者就可以根据模型一目了然，可以以此优化消融数据，也可以以此来规避可能的风险。
在一个实施例中，将待评估数据输入预先训练好的消融状态评估模型，得到消融状态评估结果之后，包括：
将待评估数据和消融状态评估结果保存到样本数据中，得到更新后的样本数据；
基于更新后的样本数据训练并更新消融状态评估模型。
消融状态评估模型可以在每次消融后对消融后进行不停的优化和学习，因为反馈的作用范围，阻抗贴靠信息，介电参数，消融参数在脉冲消融后都会有一定的更新，可以以此优化消融状态评估模型，以此提高评估的质量。
在一个实施例中，将待评估数据输入预先训练好的消融状态评估模型之前，包括：
获取样本数据；其中，样本数据可以是通过预先仿真得到的包括待评估数据、消融状态以及待评估数据与消融状态的对应关系的数据，也可以是临床收集的包括待评估数据、消融状态以及待评估数据与消融状态的对应关系的数据；还可以是仿真数据与临床收集的数据的组合，如此可以增加样本的数量，降低收集样本数据的工作量。
使用样本数据训练预先构建的机器学习模型，并在训练过程中调整机器学习模型的参数，直至机器学习模型输出的消融状态评估结果满足要求；将机器学习模型保存为消融状态评估模型。
当然，这个模型训练的过程可以在三维导航系统通过导管进行导航标测建模的过程中一并完成。
消融状态评估模型可以是机器学习模型，具体为神经网络模型。图41是本 申请实施例提供的消融状态评估模型的一个示例，如图41所示，在一个实施例中，消融状态评估模型以全神经网络(例如Tensorflow)作为主要算法，选择Encode与Decode作为神经网络机器学习框架，选用Sigmold,Relu和Softmax三种函数作为各层网络的激活函数，神经网络模型选用全连接神经网络，共五层：网络结构共分四种：输入层，隐藏层，Dropout层，输出层；整个神经网络分别选用sigmold,relu和softmax三种函数作为各层网络的激活函数。损失函数为交叉熵。参数优化方法有两种AdamOptimizer和GradientDescentOptimizer，学习率为1e-4。模型输入与输出是(1*4)对应(1*4)。
在一个实施例中，在当前组织的三维模型中展示消融状态评估结果，包括：
根据消融状态评估结果以及消融状态评估结果与展示颜色的对应关系确定消融状态评估结果对应的展示颜色；优选的，不同消融状态对应不同的展示颜色，如此可以直观的反映各区域的消融状态。消融状态与展示颜色的对应关系优选为以图例的形式进行展示。
在当前组织的三维模型中显示消融状态评估结果和/或消融状态对应的展示颜色；消融状态评估结果包括消融范围、消融深度和消融有效程度。
如图32所示，消融的效果可以通过不同的颜色深浅变化来表示，从而让医生直观的观察到肺部组织消融的范围和效果，并可以直观的帮助医生判断消融参数是否需要调整。
具体地，检测数据包括阻抗信号，获取待评估数据，包括：
向消融导管的电极加载第一信号；第一信号的频率范围为第一预设频率范围；第一预设频率范围优选为2KHz到200KHz；
采集第一信号作用在电极后的回传信号；
对回传信号进行滤波处理以将回传信号转化为阻抗信号。
其中，阻抗检测方法可以采用分时切换检测、融合提取检测、分频切换检测中的一种或多种。
这里，阻抗信号可以指示当前的负载情况，阻抗信号与消融参数如脉冲电压，脉冲宽度，脉冲个数，脉冲组数等参数一起，就可以计算出当前加载到组织的能量。而贴靠质量和面积也可以通过阻抗的变化率进行判断。贴靠面积大小可以决定消融的质量。
具体地，检测数据包括介电常数信号，获取待评估数据，包括：
将正弦激励信号通过消融导管的电极作用于当前组织；正弦激励信号的频率范围为第二预设频率范围；第二预设频率范围优选为5KHz□300MHz。
获取不同频率正弦激励信号作用于当前组织后回传的复阻抗电信号，将复阻抗电信号作为介电常数信号。
介电常数的检测利用的是产生5KHz-300MHz中多个频率的正弦激励信号，激发反应细胞组织在不同频率信号下所对应的复阻抗电信号的变化。而这些信号通过小波变换、傅里叶变化等方法转换成频域的信号。不同组织参数的介电常数是不一样的，通过不同的介电常数比例就能指导不同组织的占比进而确定细胞的含量。因为电穿孔下不同细胞组织的阈值是不一样的，通过了解支气管组织中不同种类细胞的含量可以帮助评估消融的参数的有效程度。
支气管的内径与产品接触长度的关系可通过实验获得。根据该数据，可通过仿真进一步得到待评估数据与消融状态的对应关系，待评估数据与消融状态的对应关系优选为消融状态、贴靠数据、脉冲参数、支气管厚度之间的关系，具体的，消融状态包括消融范围和消融深度。
图42是本申请实施例提供的脉冲消融效果评估装置的一结构框图，具体的如图42所示，本申请实施例提出的脉冲消融效果评估装置可以包括如下模块：
三维建模模块210，用于对消融导管处的当前组织进行标测建模，得到当前组织的三维模型；
数据获取模块220，用于获取待评估数据；待评估数据包括消融导管采集的检测数据、消融装置的消融参数和网篮状态数据；
状态评估模块230，用于将待评估数据输入预先训练好的消融状态评估模型，得到消融状态评估结果；消融状态评估模型能够根据待评估数据和待评估数据与消融状态的对应关系，计算出待评估数据对应的消融状态评估结果；
结果展示模块240，用于在当前组织的三维模型中展示消融状态评估结果。
在一个实施例中，该装置还包括反馈模块，反馈模块包括样本数据更新模块和模型更新模块。
样本数据更新模块用于将待评估数据和消融状态评估结果保存到样本数据中，得到更新后的样本数据；
模型更新模块用于基于更新后的样本数据训练并更新消融状态评估模型。
在一个实施例中，该装置还包括模型训练模块，模型训练模块包括样本数 据获取模块和参数调整模块；
样本数据获取模块用于在将待评估数据输入预先训练好的消融状态评估模型之前，获取样本数据；
参数调整模块用于使用样本数据训练预先构建的机器学习模型，并在训练过程中调整机器学习模型的参数，直至机器学习模型输出的消融状态评估结果满足要求；将机器学习模型保存为消融状态评估模型。
在一个实施例中，结果展示模块240包括：
展示颜色确定模块，用于根据消融状态评估结果以及消融状态评估结果与展示颜色的对应关系确定消融状态评估结果对应的展示颜色；
显示模块，用于在当前组织的三维模型中显示消融状态评估结果和/或消融状态对应的展示颜色；消融状态评估结果包括消融范围和消融深度。
在一个实施例中，检测数据包括阻抗信号，数据获取模块220包括：
第一信号加载模块，用于向消融导管的电极加载第一信号；第一信号的频率范围为第一预设频率范围；
回转信号采集模块，用于采集第一信号作用在电极后的回传信号；
信号转化模块，用于对回传信号进行滤波处理以将回传信号转化为阻抗信号。
在一个实施例中，检测数据包括介电常数信号，数据获取模块220包括：
第二信号加载模块，用于将正弦激励信号通过消融导管的电极作用于当前组织；正弦激励信号的频率范围为第二预设频率范围；
介电常数获取模块，用于获取不同频率正弦激励信号作用于当前组织后回传的复阻抗电信号，将复阻抗电信号作为介电常数信号。
需要说明的是，上述装置实施例与方法实施例基于相同的实施方式。
本申请对象消融系统的导航控制设备和消融设备可以运行于终端或服务器，包括处理器和存储器，该存储器中存储有至少一条指令或至少一段程序，该至少一条指令或该至少一段程序由该处理器加载并执行以实现如上述方法实施例所提供的对象消融控制方法和脉冲消融效果评估方法。
存储器可用于存储软件程序以及模块，处理器通过运行存储在存储器的软件程序以及模块，从而执行各种功能应用以及对象消融操作。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、功能所需的 应用程序等；存储数据区可存储根据设备的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器还可以包括存储器控制器，以提供处理器对存储器的访问。
本申请实施例所提供的方法实施例可以在移动终端、计算机终端、服务器或者类似的运算装置等电子设备中执行。图43是本申请实施例提供的一种对象消融控制方法的电子设备的硬件结构框图。如图43所示，该电子设备1000可因配置或性能不同而产生比较大的差异，可以包括一个或一个以上中央处理器(Central Processing Units，CPU)1100(处理器1100可以包括但不限于微处理器MCU或可编程逻辑器件FPGA等的处理装置)、用于存储数据的存储器1300，一个或一个以上存储应用程序1230或数据1220的存储介质1200(例如一个或一个以上海量存储设备)。其中，存储器130和存储介质1200可以是短暂存储或持久存储。存储在存储介质1200的程序可以包括一个或一个以上模块，每个模块可以包括对电子设备中的一系列指令操作。更进一步地，中央处理器1100可以设置为与存储介质1200通信，在电子设备1000上执行存储介质1200中的一系列指令操作。电子设备1000还可以包括一个或一个以上电源1600，一个或一个以上有线或无线网络接口1500，一个或一个以上输入输出接口1400，一个或一个以上显示器1700，和/或，一个或一个以上操作系统1210，例如Windows ServerTM，Mac OS XTM，UnixTM，LinuxTM，FreeBSDTM等等。
输入输出接口140可以用于经由一个网络接收或者发送数据。上述的网络具体实例可包括电子设备1000的通信供应商提供的无线网络。在一个实例中，输入输出接口1400包括一个网络适配器(Network Interface Controller，NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，输入输出接口1400可以为射频(Radio Frequency，RF)模块，其用于通过无线方式与互联网进行通讯。
显示器1700可以用于将电子文件通过特定的传输设备显示到屏幕上再反射到人眼。本申请显示器1700可以用于界面显示、数据管理显示、内窥镜图像显示、二维图像显示、三维图像显示和若干个二维图像和三维图像的组合和多维度显示等。
本领域普通技术人员可以理解，图43所示的结构仅为示意，其并不对上述 电子装置的结构造成限定。例如，电子设备1000还可包括比图43中所示更多或者更少的组件，或者具有与图43所示不同的配置。
本申请的实施例还提供了一种计算机可读存储介质，存储介质可设置于电子设备之中以保存用于实现方法实施例中一种对象消融控制方法相关的至少一条指令或至少一段程序，该至少一条指令或该至少一段程序由该处理器加载并执行以实现上述方法实施例提供的对象消融控制方法和脉冲消融效果评估方法。
可选地，在本申请中，上述存储介质可以位于计算机网络的多个网络服务器中的至少一个网络服务器。可选地，在本申请中，上述存储介质可以包括但不限于：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
根据本申请的一个方面，提供了一种计算机程序产品或计算机程序，该计算机程序产品或计算机程序包括计算机指令，该计算机指令存储在计算机可读存储介质中。计算机设备的处理器从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得该计算机设备执行上述各种可选实现方式中提供的方法。
上述本申请实施例先后顺序仅仅为了描述，不代表实施例的优劣。且上述对本申请特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
本申请中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于装置、设备和存储介质实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指示相关的硬件完成。
上述说明示出并描述了本申请的优选实施例，如前所述，应当理解本申请并非局限于本文所披露的形式，不应看作是对其他实施例的排除，而可用于各 种其他组合、修改和环境，并能够在本文所述发明构想范围内，通过上述教导或相关领域的技术或知识进行改动。而本领域人员所进行的改动和变化不脱离本申请的精神和范围，则都应在本申请所附权利要求的保护范围内。

Claims (67)

  1. 一种对象消融系统，其特征在于，包括介入设备(1)、导航控制设备(2)、第一位置采集装置(3)和消融设备(4)；所述介入设备(1)包括第二位置采集装置(11)和介入组件(12)；所述第一位置采集装置(3)、所述第二位置采集装置(11)、所述介入组件(12)和所述消融设备(4)分别与所述导航控制设备(2)通信连接；
    所述第一位置采集装置(3)用于采集目标对象的运动位置信息，并传输至所述导航控制设备(2)；
    所述第二位置采集装置(11)用于采集所述介入组件(12)在目标介入区域中的介入位置信息，并传输至所述导航控制设备(2)，所述目标介入区域属于所述目标对象；
    所述导航控制设备(2)用于基于所述目标介入区域的区域图像信息、所述介入组件(12)的形态属性信息、所述运动位置信息和所述介入位置信息进行虚拟模型构建，得到导航三维模型和操作对象三维模型，所述导航三维模型用于表征所述目标介入区域的三维空间特征、所述介入组件(12)的三维空间特征，以及待消融对象、所述介入组件(12)与所述目标介入区域间的空间位置信息，所述操作对象三维模型用于表征所述待消融对象的三维空间特征；
    所述导航控制设备(2)还用于根据所述导航三维模型、所述操作对象三维模型和所述待消融对象的对象属性信息，确定所述待消融对象对应的目标消融参数；并控制所述消融设备(4)基于所述目标消融参数运行，以使所述介入组件(12)对所述待消融对象进行消融处理。
  2. 根据权利要求1所述的对象消融系统，其特征在于，所述导航控制设备(2)包括：
    介入区域子模型构建模块(21)，用于对所述目标介入区域的区域图像信息进行图像识别处理，得到图像识别结果；并基于所述图像识别结果进行图像重构，得到介入区域子模型和所述操作对象三维模型，所述介入区域子模型用于表征所述目标介入区域的三维空间特征；
    介入组件子模型构建模块(22)，用于根据所述介入组件(12)的形态属性信息进行虚拟模型构建，得到介入组件子模型，所述介入组件子模型用于表征所述介入组件(12)的三维空间特征；
    融合模块(23)，用于根据所述介入位置信息和所述运动位置信息，对所述介入区域子模型、所述操作对象三维模型和所述介入组件子模型进行空间融合处理，得到所述导航三维模型。
  3. 根据权利要求2所述的对象消融系统，其特征在于，所述导航控制设备(2)还包括导航规划模块(24)，所述导航规划模块(24)与所述导航三维模型通信连接：
    所述导航规划模块(24)用于根据所述介入区域子模型、所述操作对象三维模型进行导航规划，得到所述介入组件(12)在所述介入区域子模型内的导航路径，所述导航路径用于指示所述介入组件(12)在所述目标介入区域内抵达所述待消融对象过程中所需途径的行进路径。
  4. 根据权利要求3所述的对象消融系统，其特征在于，所述导航规划模块(24)还用于在所述介入组件(12)在所述目标介入区域的运动过程中，基于所述介入组件(12)的介入位置信息和所述运动位置信息确定所述介入组件(12)的介入轨迹信息；若所述介入轨迹信息与所述导航路径对应的路径轨迹信息满足预设偏差条件，对所述介入组件(12)在所述目标介入区域中的介入位置进行修正，至所述介入组件(12)的更新的介入轨迹信息与所述路径轨迹信息相匹配。
  5. 根据权利要求1-4中任一项所述的对象消融系统，其特征在于，所述导航控制设备(2)还包括初始参数获取模块(25)和目标参数确定模块(26)，
    所述初始参数获取模块(25)用于获取所述待消融对象的对象属性信息所对应的初始消融参数、所述待消融对象的阻抗数据、所述介入组件(12)的贴靠参数和所述待消融对象的介电常数，所述初始消融参数至少包括脉冲电压、脉冲宽度、脉冲个数和脉冲组数中的至少一个；
    目标参数确定模块(26)用于根据所述导航三维模型、所述操作对象三维模型、所述待消融对象的对象属性信息、所述待消融对象的对象属性信息所对应的初始消融参数、所述待消融对象的阻抗数据、所述介入组件(12)的贴靠参数和所述待消融对象的介电常数进行消融效果评估，得到所述初始消融参数对应的消融效果数据；若所述消融效果数据满足目标消融条件，将所述初始消融参数确定为所述目标消融参数。
  6. 根据权利要求5所述的对象消融系统，其特征在于，所述介入设备(1)包括贴靠检测装置和介电常数检测装置，所述贴靠检测装置和所述介电常数检测装置分别与所述导航控制设备(2)通信连接；
    所述贴靠检测装置用于检测所述待消融对象的阻抗数据以及所述介入组件(12)的贴靠参数，所述阻抗数据用于指示所述介入组件(12)的负载，所述贴靠参数用于指示所述介入组件(12)与所述待消融对象间的贴靠程度；并发送至所述初始参数获取模块(25)；
    所述介电常数检测装置用于检测所述待消融对象的介电常数。
  7. 根据权利要求5所述的对象消融系统，其特征在于，所述目标参数确定模块(26)包括仿真消融模型构建单元(261)；
    所述仿真消融模型构建单元(261)用于基于所述对象属性信息、所述初始消融参数、所述阻抗数据、所述贴靠参数、所述介电常数、所述操作对象三维模型和所述导航三维模型作为消融评估模型的输入，进行消融效果仿真，得到所述初始消融参数对应的仿真消融模型，所述仿真消融模型用于表征所述初始消融参数对应的消融效果数据。
  8. 根据权利要求1-4中任一项所述的对象消融系统，其特征在于，所述导航控制设备(2)还包括消融三维模型生成模块(27)；
    所述消融三维模型生成模块(27)用于在所述介入组件(12)对所述待消融对象进行消融处理之后，获取所述介入组件(12)的消融轨迹信息和消融数据；根据所述消融轨迹信息、所述消融数据和所述目标消融参数生成消融三维模型，所述消融数据包括已消融处理的消融区域和所述消融区域的消融位置信息，所述消融三维模型表征所述消融后的待消融对象的三维空间特征。
  9. 根据权利要求7所述的对象消融系统，其特征在于，所述导航控制设备(2)包括脉冲能量发生模块(28)；
    所述脉冲能量发生模块(28)用于基于所述目标消融参数生成能量发生控制信号，以控制所述消融设备(4)运行。
  10. 根据权利要求9中任一项所述的对象消融系统，其特征在于，所述消融设备(4)的控制电路包括开关电路(42)，所述开关电路(42)包括至少两条并联、全桥、半桥或串联连接的分支电路(421)，每条所述分支电路(421)均包括输入端开关模块(4211)和输出端开关模块(4212)；所述开关电路(42) 响应于所述脉冲能量发生模块(28)的能量发生控制信号控制对应的输入端开关模块(4211)和输出端开关模块(4212)导通，生成脉冲能量。
  11. 根据权利要求10所述的对象消融系统，其特征在于，所述分支电路(421)包括滤波模块(4215)，所述滤波模块(4215)包括多个滤波单元，所述滤波单元包括多种滤波器和滤波选择器，所述滤波选择器用于选择不同的滤波器进行滤波处理。
  12. 根据权利要求1-4中任一项所述的对象消融系统，其特征在于，所述介入设备(1)包括芯轴(13)和操控管组件(14)，所述芯轴(13)用于分别与所述介入组件(12)和所述消融设备(4)电连接；
    所述第二位置采集装置(11)设置在所述芯轴(13)和/或所述介入组件(12)上；
    所述介入组件(12)包括至少一个消融电极(121)，至少一个所述消融电极(121)为网状，至少一个所述消融电极(121)沿所述芯轴(13)依次设置，所述操控管组件(14)套设于所述芯轴(13)外侧，所述操控管组件(14)能够相对于所述芯轴(13)移动，以带动所述消融电极(121)扩张或收缩。
  13. 根据权利要求1-4中任一项所述的对象消融系统，其特征在于，所述贴靠检测装置和所述介电常数检测装置均设置在所述介入组件(12)上，所述贴靠检测装置和所述介电常数检测装置均与所述导航控制设备(2)通信连接。
  14. 根据权利要求12所述的对象消融系统，其特征在于，所述介入设备(1)包括固定套(15)，所述固定套(15)的套体两端沿周向设有内齿结构(151)，两端所述内齿结构(151)均从所述套体的端面向端面内侧倾斜设置。
  15. 根据权利要求14所述的对象消融系统，其特征在于，所述第二位置采集装置(11)设置在所述固定套(15)的两所述内齿结构(151)之间。
  16. 根据权利要求12所述的对象消融系统，其特征在于，所述操控管组件(14)包括至少一个与所述消融电极(121)连接的操控管(141)。
  17. 根据权利要求12所述的对象消融系统，其特征在于，至少一个所述消融电极(121)能够构成为单极电极或双极电极。
  18. 根据权利要求12所述的对象消融系统，其特征在于，多个沿所述芯轴(13)依次设置的所述消融电极(121)可扩张的最大距离沿芯轴(13)的远端到近端的方向依次增加。
  19. 根据权利要求18所述的对象消融系统，其特征在于，所述消融电极(121)包括多条电极线，多条所述电极线交叉编织成网状的所述消融电极(121)。
  20. 根据权利要求19所述的对象消融系统，其特征在于，所述消融电极(121)扩张后的轴向截面为椭圆形、纺锤形、多边形或伞形。
  21. 根据权利要求12所述的对象消融系统，其特征在于，包括操作柄(16)，所述控制柄(16)内设有供所述芯轴(13)和所述操控管组件(14)穿过的通道。
  22. 根据权利要求21所述的对象消融系统，其特征在于，所述操作柄(16)上设有操控组件(17)，所述操控组件(17)与所述操作柄(16)滑动或转动连接，所述操控组件(17)用于控制至少一个所述操控管(141)移动。
  23. 一种医疗介入装置，其特征在于，包括内芯管(100)、操控外管(101)、电极导丝(102)和消融电极(121)，所述电极导丝(102)可拆卸地穿设在所述内芯管(100)内，所述操控外管(101)套设在所述内芯管(100)外侧；
    所述消融电极(121)的远端与所述内芯管(100)的远端固定连接，所述消融电极(121)的近端与所述操控外管(101)的外壁固定连接，所述操控外管(101)能够沿所述内芯管(100)移动以带动所述消融电极(121)扩张或收缩。
  24. 根据权利要求23所述的医疗介入装置，其特征在于，所述内芯管(100)为贯通管，所述电极导丝(102)的远端能够穿过所述内芯管(100)的远端与病变组织接触。
  25. 根据权利要求23所述的医疗介入装置，其特征在于，所述电极导丝(102)和所述消融电极(121)均与消融设备(4)电连接。
  26. 根据权利要求23所述的医疗介入装置，其特征在于，所述消融电极(121)包括多条电极线，多条所述电极线交叉编织成网状。
  27. 根据权利要求26所述的医疗介入装置，其特征在于，多条所述电极线的远端与所述内芯管(100)远端的外壁固定连接。
  28. 一种能量递送装置，其特征在于，包括导向管(20)、可膨胀结构(21)、介入组件(12)和手柄(22)，所述导向管(20)一端与所述手柄(22)连接，所述导向管(20)的另一端与所述可膨胀结构(21)连接；
    所述导向管(20)内形成有冷却介质通道(201)，所述冷却介质通道(201) 一端用于与冷却介质源连通，所述冷却介质通道(201)的另一端与所述可膨胀结构(21)连通；
    所述介入组件(12)包括输送线(120)和消融电极(121)，所述输送线(120)一端与所述消融电极(121)连接，所述输送线(120)的另一端用于与消融设备(4)连接，所述消融电极(121)呈网状，所述消融电极(121)包覆所述可膨胀结构(21)。
  29. 根据权利要求28所述的能量递送装置，其特征在于，所述导向管(20)远离所述手柄(22)的一端设有第二位置采集装置(11)。
  30. 根据权利要求28所述的能量递送装置，其特征在于，所述导向管(20)包括外层管(202)和内层管(203)，所述外层管(202)与所述内层管(203)之间形成冷却介质通道(201)。
  31. 根据权利要求30所述的能量递送装置，其特征在于，所述可膨胀结构(21)靠近所述手柄(22)的一端与所述外层管(202)连接，所述可膨胀结构(21)的另一端与所述内层管(203)连接。
  32. 根据权利要求28所述的能量递送装置，其特征在于，所述消融电极(121)为四边形网状结构。
  33. 根据权利要求32所述的能量递送装置，其特征在于，所述消融电极(121)经切割、编织或电铸制成。
  34. 根据权利要求33所述的能量递送装置，其特征在于，所述消融电极(121)的两端分别通过连接件(23)与所述可膨胀结构(21)的两端连接。
  35. 根据权利要求34所述的能量递送装置，其特征在于，所述消融电极(121)能够随所述可膨胀结构(21)的扩张而扩张，随所述可膨胀结构(21)的收缩而收缩。
  36. 根据权利要求28所述的能量递送装置，其特征在于，所述手柄(22)上设有连通部(221)，所述连通部(221)分别连通所述冷却介质源和所述冷却介质通道(201)。
  37. 根据权利要求29所述的能量递送装置，其特征在于，所述第二位置采集装置(11)与导航控制设备(2)通信连接。
  38. 一种可调弯引导管，其特征在于，包括操控部(30)和近端与所述操控 部(30)连接的第一层管(31)和第二层管(32)，所述第二层管(32)设置在所述第一层管(31)内，所述第二层管(32)与所述操控部(30)的内部连通；
    所述第二层管(32)远离所述操控部的一端设有第二位置采集装置(11)，所述第二位置采集装置(11)设置在所述第二层管(32)的外壁上；
    所述操控部(30)上设有调弯控制件(34)和调节丝(35)，所述调节丝(35)一端与所述调弯控制件(34)连接，所述调节丝(35)的另一端用于与所述第二层管(32)的调弯段(321)固定连接。
  39. 根据权利要求38所述的可调弯引导管，其特征在于，所述第一层管(31)和所述第二层管(32)的直径从近端到远端逐渐减小。
  40. 根据权利要求38所述的可调弯引导管，其特征在于，包括传导线(33)，所述第二位置采集装置(11)通过所述传导线(33)与导航控制设备(2)连接。
  41. 根据权利要求38所述的可调弯引导管，其特征在于，所述调弯段(321)设置在所述第二层管(32)上，所述调弯段(321)到所述第二层管(32)远端的距离为2cm-5cm。
  42. 根据权利要求41所述的可调弯引导管，其特征在于，所述调弯段(321)外侧设有连接结构(37)，所述调弯段(321)通过所述连接结构(37)与所述调节丝(35)连接。
  43. 根据权利要求38所述的可调弯引导管，其特征在于，所述调弯控制件(34)与所述操控部(30)滑动或转动连接。
  44. 根据权利要求43所述的可调弯引导管，其特征在于，所述调弯控制件(34)通过所述调节丝(35)拉动所述第二层管(32)弯曲的弧度为0-180°。
  45. 根据权利要求38所述的可调弯引导管，其特征在于，所述调节丝(35)为单股或多股金属丝构成的圆形丝绳或扁形丝绳。
  46. 根据权利要求45所述的可调弯引导管，其特征在于，所述调节丝(35)的外侧套设有弯丝通道(38)，所述弯丝通道(38)沿所述第二层管(32)轴向设置，并与所述操控部(30)连接。
  47. 一种医用活检取样装置，其特征在于，包括调节部(40)、引导管(41)、取样件(42)和调弯件(43)；所述引导管(41)套设于所述取样件(42)上，所述引导管(41)与所述调节部(40)连接，所述调节部(40)上设有第一调 节件(401)和第二调节件(402)；
    所述取样件(42)一端与所述第一调节件(401)连接，所述取样件(42)的另一端设有取样头(421)；所述调弯件(43)一端与所述第二调节件(402)连接，所述调弯件(43)的另一端与所述引导管(41)的调弯部(411)连接，所述调弯件(43)能够通过所述调弯部(411)拉动所述引导管(41)弯曲。
  48. 根据权利要求47所述的医用活检取样装置，其特征在于，所述取样件(42)上设有第二位置采集装置(11)，所述第二位置采集装置(11)靠近所述取样头(421)设置，所述第二位置采集装置(11)用于采集所述取样头(421)的位置信息，并传输至导航控制设备(2)。
  49. 根据权利要求47所述的医用活检取样装置，其特征在于，所述调弯部(411)设置在所述引导管(41)上，且靠近所述引导管(41)远端。
  50. 根据权利要求49所述的医用活检取样装置，其特征在于，所述调弯件(43)包括调控丝(431)，所述调控丝(431)一端与所述第二调节件(402)连接，所述调控丝(431)的另一端与所述调弯部(411)连接。
  51. 根据权利要求50所述的医用活检取样装置，其特征在于，所述调弯件(43)包括调节管(432)，所述调节管(432)套设于所述调控丝(431)上，所述调节管(432)与所述引导管(41)连接。
  52. 根据权利要求51所述的医用活检取样装置，其特征在于，所述引导管(41)的调弯部(411)处设有连固件(44)，所述调控丝(431)通过所述连固件(44)与所述调弯部(411)连接。
  53. 根据权利要求47所述的医用活检取样装置，其特征在于，所述第一调节件(401)和第二调节件(402)分别与所述调节部(40)滑动或转动连接。
  54. 根据权利要求47所述的医用活检取样装置，其特征在于，所述调弯件(43)拉动所述引导管(41)弯曲的弧度为0°-120°。
  55. 根据权利要求48所述的医用活检取样装置，其特征在于，所述第二位置采集装置(11)通过信号线(46)与导航控制设备(2)连接。
  56. 一种对象消融控制方法，其特征在于，所述方法包括：
    接收第一位置采集装置(3)采集的目标对象的运动位置信息和第二位置采集装置(11)采集的介入组件(12)在目标介入区域中的介入位置信息，所述目标介入区域属于所述目标对象；
    基于所述目标介入区域的区域图像信息、介入组件(12)的形态属性信息、所述运动位置信息和所述介入位置信息进行虚拟模型构建，得到导航三维模型和操作对象三维模型，所述导航三维模型用于表征所述目标介入区域的三维空间特征、所述介入组件(12)的三维空间特征，以及待消融对象、所述介入组件(12)与所述目标介入区域间的空间位置信息，所述操作对象三维模型用于表征所述待消融对象的三维空间特征；
    根据所述导航三维模型、所述操作对象三维模型和所述待消融对象的对象属性信息，确定所述待消融对象对应的目标消融参数；
    控制消融设备(4)基于所述目标消融参数运行，以使所述介入组件(12)对所述待消融对象进行消融处理。
  57. 一种对象消融控制装置，其特征在于，所述装置包括：
    信息接收模块：用于接收第一位置采集装置(3)采集的目标对象的运动位置信息和第二位置采集装置(11)采集的介入组件(12)在目标介入区域中的介入位置信息，所述目标介入区域属于所述目标对象；
    模型构建模块：用于基于目标介入区域的区域图像信息、介入组件(12)的形态属性信息、所述运动位置信息和所述介入位置信息进行虚拟模型构建，得到导航三维模型和操作对象三维模型，所述导航三维模型用于表征所述目标介入区域的三维空间特征、所述介入组件(12)的三维空间特征，以及待消融对象、所述介入组件(12)与所述目标介入区域间的空间位置信息，所述操作对象三维模型用于表征所述待消融对象的三维空间特征；
    参数确定模块：用于根据所述导航三维模型、所述操作对象三维模型和所述待消融对象的对象属性信息，确定所述待消融对象对应的目标消融参数；
    对象控制模块：用于控制消融设备(4)基于所述目标消融参数运行，以使所述介入组件(12)对所述待消融对象进行消融处理。
  58. 一种脉冲消融效果评估方法，其特征在于，包括：
    对消融导管处的当前组织进行标测建模，得到当前组织的三维模型；
    获取待评估数据；所述待评估数据包括消融导管采集的检测数据、消融装置的消融参数和网篮状态数据；
    将所述待评估数据输入预先训练好的消融状态评估模型，得到消融状态评估结果；所述消融状态评估模型能够根据所述待评估数据和所述待评估数据与 消融状态的对应关系，计算出所述待评估数据对应的所述消融状态评估结果；
    在所述当前组织的三维模型中展示所述消融状态评估结果。
  59. 根据权利要求58所述的脉冲消融效果评估方法，其特征在于，所述将所述待评估数据输入预先训练好的消融状态评估模型，得到消融状态评估结果之后，包括：
    将所述待评估数据和所述消融状态评估结果保存到样本数据中，得到更新后的样本数据；
    基于所述更新后的样本数据训练并更新所述消融状态评估模型。
  60. 根据权利要求58所述的脉冲消融效果评估方法，其特征在于，所述将所述待评估数据输入预先训练好的消融状态评估模型之前，包括：
    获取样本数据；
    使用所述样本数据训练预先构建的机器学习模型，并在训练过程中调整所述机器学习模型的参数，直至所述机器学习模型输出的所述消融状态评估结果满足要求；将所述机器学习模型保存为所述消融状态评估模型。
  61. 根据权利要求58所述的脉冲消融效果评估方法，其特征在于，所述在所述当前组织的三维模型中展示所述消融状态评估结果，包括：
    根据所述消融状态评估结果以及所述消融状态评估结果与展示颜色的对应关系确定所述消融状态评估结果对应的展示颜色；
    在所述当前组织的三维模型中显示所述消融状态评估结果和/或所述消融状态对应的展示颜色；所述消融状态评估结果包括消融范围和消融深度。
  62. 根据权利要求58所述的脉冲消融效果评估方法，其特征在于，所述检测数据包括阻抗信号，所述获取待评估数据，包括：
    向所述消融导管的电极加载第一信号；所述第一信号的频率范围为第一预设频率范围；
    采集所述第一信号作用在电极后的回传信号；
    对所述回传信号进行滤波处理以将所述回传信号转化为所述阻抗信号。
  63. 根据权利要求58所述的脉冲消融效果评估方法，其特征在于，所述检测数据包括介电常数信号，所述获取待评估数据，包括：
    将正弦激励信号通过所述消融导管的电极作用于当前组织；所述正弦激励 信号的频率范围为第二预设频率范围；
    获取不同频率正弦激励信号作用于当前组织后回传的复阻抗电信号，将所述复阻抗电信号作为所述介电常数信号。
  64. 根据权利要求58所述的脉冲消融效果评估方法，其特征在于，所述网篮状态数据包括网篮张开状态数据和网篮与当前组织的贴靠面积，所述网篮张开状态数据和所述贴靠面积用于确定待消融区域的厚度。
  65. 一种脉冲消融效果评估装置，其特征在于，包括：
    模型建立模块，用于对消融导管处的当前组织进行标测建模，得到当前组织的三维模型；
    数据获取模块，用于获取待评估数据；所述待评估数据包括消融导管采集的检测数据、消融装置的消融参数和网篮状态数据；
    状态评估模块，用于将所述待评估数据输入预先训练好的消融状态评估模型，得到消融状态评估结果；所述消融状态评估模型能够根据所述待评估数据和所述待评估数据与消融状态的对应关系，计算出所述待评估数据对应的所述消融状态评估结果；
    结果展示模块，用于在所述当前组织的三维模型中展示所述消融状态评估结果。
  66. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有至少一条指令或至少一段程序，所述至少一条指令或所述至少一段程序由处理器加载并执行以实现如权利要求56所述的对象消融控制方法和权利要求58-64所述的脉冲消融效果评估方法。
  67. 一种电子设备，其特征在于，所述设备包括处理器和存储器，所述存储器中存储有至少一条指令或至少一段程序，所述至少一条指令或所述至少一段程序由所述处理器加载并执行以实现如权利要求56所述的对象消融控制方法和权利要求58-64所述的脉冲消融效果评估方法。
PCT/CN2023/109091 2022-08-26 2023-07-25 一种对象消融系统、控制方法、装置、介质及电子设备 WO2024041285A1 (zh)

Applications Claiming Priority (14)

Application Number Priority Date Filing Date Title
CN202222270126.3 2022-08-26
CN202211037397.2 2022-08-26
CN202222270126.3U CN219332879U (zh) 2022-08-26 2022-08-26 一种可调弯引导管
CN202211037397.2A CN116115270A (zh) 2022-08-26 2022-08-26 一种医用活检取样装置
CN202223067057.2 2022-11-18
CN202223067057.2U CN219331890U (zh) 2022-11-18 2022-11-18 一种能量递送装置
CN202211614498.1A CN116115320A (zh) 2022-12-13 2022-12-13 一种脉冲消融装置
CN202211614498.1 2022-12-13
CN202211713102.9A CN116230225A (zh) 2022-12-29 2022-12-29 一种脉冲消融效果评估方法、装置、设备及存储介质
CN202211716334.XA CN116115329A (zh) 2022-12-29 2022-12-29 一种介入消融装置及医疗介入装置
CN202211716240.2A CN116115328A (zh) 2022-12-29 2022-12-29 一种对象消融系统、控制方法、装置、介质及电子设备
CN202211713102.9 2022-12-29
CN202211716240.2 2022-12-29
CN202211716334.X 2022-12-29

Publications (1)

Publication Number Publication Date
WO2024041285A1 true WO2024041285A1 (zh) 2024-02-29

Family

ID=90012407

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/109091 WO2024041285A1 (zh) 2022-08-26 2023-07-25 一种对象消融系统、控制方法、装置、介质及电子设备

Country Status (1)

Country Link
WO (1) WO2024041285A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118536365A (zh) * 2024-07-19 2024-08-23 国网浙江省电力有限公司温州市洞头区供电公司 蜈蚣梯支撑杆绝缘性能评估方法、介质、产品及设备

Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103356281A (zh) * 2012-03-26 2013-10-23 韦伯斯特生物官能(以色列)有限公司 具有复合构造的导管
CN105534593A (zh) * 2014-10-29 2016-05-04 深圳迈瑞生物医疗电子股份有限公司 介入消融模拟系统及方法
CN109689147A (zh) * 2017-07-27 2019-04-26 先健科技(深圳)有限公司 可调弯鞘管和医疗器械
CN110198680A (zh) * 2016-11-16 2019-09-03 纳维斯国际有限公司 消融有效性估计器
CN110575251A (zh) * 2018-06-08 2019-12-17 赛诺微医疗科技（浙江）有限公司 球囊型柔性微波消融导管及采用其的消融系统和方法
CN111248947A (zh) * 2018-11-30 2020-06-09 杭州堃博生物科技有限公司 可调弯活检针及活检系统
CN111772783A (zh) * 2020-08-21 2020-10-16 白龙腾 一种具有可弯曲电极的消融系统
CN112545643A (zh) * 2021-02-23 2021-03-26 上海安钛克医疗科技有限公司 电极、球囊导管及消融系统
US20210169394A1 (en) * 2018-05-08 2021-06-10 Acutus Medical, Inc. Cardiac information processing system
CN113425411A (zh) * 2021-08-04 2021-09-24 成都科莱弗生命科技有限公司 一种病变定位导航的方法和装置
CN113768616A (zh) * 2021-10-20 2021-12-10 四川锦江电子科技有限公司 一种用于心脏消融的综合系统
CN215384579U (zh) * 2021-07-12 2022-01-04 心航路医学科技(广州)有限公司 一种网篮形消融导管
CN113907870A (zh) * 2021-11-06 2022-01-11 嘉兴市中医医院 一种止血辅助电凝活检钳
CN116115328A (zh) * 2022-12-29 2023-05-16 融和医疗科技(浙江)有限公司 一种对象消融系统、控制方法、装置、介质及电子设备
CN116115270A (zh) * 2022-08-26 2023-05-16 融和医疗科技(浙江)有限公司 一种医用活检取样装置
CN116115329A (zh) * 2022-12-29 2023-05-16 融和医疗科技(浙江)有限公司 一种介入消融装置及医疗介入装置
CN116230225A (zh) * 2022-12-29 2023-06-06 融和医疗科技(浙江)有限公司 一种脉冲消融效果评估方法、装置、设备及存储介质
CN219331890U (zh) * 2022-11-18 2023-07-14 融和医疗科技(浙江)有限公司 一种能量递送装置
CN219332879U (zh) * 2022-08-26 2023-07-14 融和医疗科技(浙江)有限公司 一种可调弯引导管

Patent Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103356281A (zh) * 2012-03-26 2013-10-23 韦伯斯特生物官能(以色列)有限公司 具有复合构造的导管
CN105534593A (zh) * 2014-10-29 2016-05-04 深圳迈瑞生物医疗电子股份有限公司 介入消融模拟系统及方法
CN110198680A (zh) * 2016-11-16 2019-09-03 纳维斯国际有限公司 消融有效性估计器
CN109689147A (zh) * 2017-07-27 2019-04-26 先健科技(深圳)有限公司 可调弯鞘管和医疗器械
US20210169394A1 (en) * 2018-05-08 2021-06-10 Acutus Medical, Inc. Cardiac information processing system
CN110575251A (zh) * 2018-06-08 2019-12-17 赛诺微医疗科技（浙江）有限公司 球囊型柔性微波消融导管及采用其的消融系统和方法
CN111248947A (zh) * 2018-11-30 2020-06-09 杭州堃博生物科技有限公司 可调弯活检针及活检系统
CN111772783A (zh) * 2020-08-21 2020-10-16 白龙腾 一种具有可弯曲电极的消融系统
CN112545643A (zh) * 2021-02-23 2021-03-26 上海安钛克医疗科技有限公司 电极、球囊导管及消融系统
CN215384579U (zh) * 2021-07-12 2022-01-04 心航路医学科技(广州)有限公司 一种网篮形消融导管
CN113425411A (zh) * 2021-08-04 2021-09-24 成都科莱弗生命科技有限公司 一种病变定位导航的方法和装置
CN113768616A (zh) * 2021-10-20 2021-12-10 四川锦江电子科技有限公司 一种用于心脏消融的综合系统
CN113907870A (zh) * 2021-11-06 2022-01-11 嘉兴市中医医院 一种止血辅助电凝活检钳
CN116115270A (zh) * 2022-08-26 2023-05-16 融和医疗科技(浙江)有限公司 一种医用活检取样装置
CN219332879U (zh) * 2022-08-26 2023-07-14 融和医疗科技(浙江)有限公司 一种可调弯引导管
CN219331890U (zh) * 2022-11-18 2023-07-14 融和医疗科技(浙江)有限公司 一种能量递送装置
CN116115328A (zh) * 2022-12-29 2023-05-16 融和医疗科技(浙江)有限公司 一种对象消融系统、控制方法、装置、介质及电子设备
CN116115329A (zh) * 2022-12-29 2023-05-16 融和医疗科技(浙江)有限公司 一种介入消融装置及医疗介入装置
CN116230225A (zh) * 2022-12-29 2023-06-06 融和医疗科技(浙江)有限公司 一种脉冲消融效果评估方法、装置、设备及存储介质

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118536365A (zh) * 2024-07-19 2024-08-23 国网浙江省电力有限公司温州市洞头区供电公司 蜈蚣梯支撑杆绝缘性能评估方法、介质、产品及设备

Similar Documents

Publication Publication Date Title
US20210386477A1 (en) System and method for treating copd and emphysema
JP6165101B2 (ja) マイクロ波エネルギー送達装置及びシステム
JP6437728B2 (ja) マイクロ波エネルギー送達装置及びシステム
CN106572884B (zh) 用于球形消融的系统和方法
CN116115328A (zh) 一种对象消融系统、控制方法、装置、介质及电子设备
EP3052038A1 (en) Electrosurgical fibroid ablation system and method
CN113476136B (zh) 一种脉冲场消融控制方法及系统
WO2024041285A1 (zh) 一种对象消融系统、控制方法、装置、介质及电子设备
US12016612B2 (en) ENT ablation instrument with electrode loop
EP3890639B1 (en) Electrosurgical instrument
US10531916B2 (en) Microwave-irradiating instrument
US9011426B2 (en) Flexible electrosurgical ablation and aspiration electrode with beveled active surface
CN105997234B (zh) 用于支气管镜下治疗肺癌的磁导航射频消融导管
CN115916098A (zh) 用于鼻后神经消融的设备
CN113317868A (zh) 一种脉冲场消融导管及设备
US20150196350A1 (en) Electrosurgical devices having enhanced effectiveness and methods of making and using same
EP3735194B1 (en) Systems and methods for energy delivery
EP4091564A1 (en) Improving efficiency of ire ablation procedure by applying stress signal to target tissue
JP7492771B2 (ja) 電気手術器具
KR101459940B1 (ko) 맵핑 및 절제 카테터
JP2003305055A (ja) レゼクトスコープ装置
US20220313353A1 (en) Ent instrument with rf electrodes on wire frame
US20240156518A1 (en) Medical systems for ablation or electroporation including a removable electrically conductive stylet and methods of use
WO2024073765A2 (en) Apparatus and methods for tissue ablation
JP2024520990A (ja) 腫瘍アブレーション器具及び技術

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: 23856375

Country of ref document: EP

Kind code of ref document: A1