阅读说明：本技术 病灶消融针的入针点位规划方法及设备 (Needle insertion point position planning method and device for lesion ablation needle ) 是由 张丽娜 于 2021-10-25 设计创作，主要内容包括：本申请涉及医疗器械领域,公开一种病灶消融针的入针点位规划方法及设备,所述方法包括：根据病灶处的三维图像数据确定用于布置消融针的横截面图像；在所述横截面图像中识别病灶区域的尺寸信息；根据所述尺寸信息确定入针点位数量；针对所述病灶区域均匀布置所述数量的入针点位,并且保持消融针垂直于横截面图像抵达所述入针点位时的穿刺路径与规避物体不重合。(The application relates to the field of medical instruments and discloses a lesion ablation needle inserting point planning method and device, wherein the method comprises the following steps: determining a cross-sectional image for arranging an ablation needle according to the three-dimensional image data at the focus; identifying size information of a lesion region in the cross-sectional image; determining the number of needle entering positions according to the size information; the number of needle inserting point positions are uniformly distributed for the lesion area, and a puncture path of the ablation needle perpendicular to the cross-sectional image and when the ablation needle reaches the needle inserting point positions is not overlapped with the avoidance object.)

1. A needle insertion point planning method for a lesion ablation needle is characterized by comprising the following steps:

determining a cross-sectional image for arranging an ablation needle according to the three-dimensional image data at the focus;

identifying size information of a lesion region in the cross-sectional image;

determining the number of needle entering positions according to the size information;

the number of needle inserting point positions are uniformly distributed for the lesion area, and a puncture path of the ablation needle perpendicular to the cross-sectional image and when the ablation needle reaches the needle inserting point positions is not overlapped with the avoidance object.

2. The method of claim 1, wherein the size information is a perimeter value; the step of determining the number of needle insertion points according to the size information specifically comprises the following steps:

determining a preset perimeter interval to which the perimeter value of the focus area belongs;

and acquiring the number of preset needle entering point positions corresponding to the preset perimeter interval.

3. The method of claim 1, wherein the needle insertion site is used for nanoprobe puncture; the step of uniformly arranging the number of needle insertion point positions for the lesion area specifically includes:

identifying a gravity center point of the focus area, and determining a first needle inserting point position according to the gravity center point;

equally dividing the focus area into a plurality of sub-areas by taking the gravity center point as a center;

and determining other needle entering point positions aiming at the sub-areas respectively, wherein each sub-area corresponds to at least one needle entering point position.

4. The method of claim 3, wherein determining the first needle insertion point location based on the center of gravity point comprises:

judging whether the puncture path is overlapped with the avoidance object when passing through the gravity center point according to three-dimensional image data at the focus;

and if the puncture path passes through the center of gravity point and is overlapped with the avoidance object, determining the needle entering point position within a preset radius range by taking the center of gravity point as the center, so that the puncture path is not overlapped with the avoidance object.

5. The method according to claim 3, wherein determining the remaining needle entry point locations for the sub-regions respectively comprises:

determining a undetermined point in the sub-area and at a preset distance from the edge;

judging whether the puncture path is overlapped with the evasive object when passing through the undetermined point according to three-dimensional image data at the focus;

and if the puncture path passes through the undetermined point and is superposed with the avoidance object, determining the position of a needle entering point within a preset radius range by taking the undetermined point as the center, so that the puncture path is not superposed with the avoidance object.

6. The method according to claim 4 or 5, wherein there are a plurality of preset radii, and in the process of determining the needle entry location within the preset radius range, the preset radii are gradually increased from the smallest preset radius, the undetermined points are determined within each preset radius in sequence, whether the corresponding puncture path coincides with the avoidance object or not is judged, and until the puncture path does not coincide with the avoidance object, the corresponding undetermined points are used as the needle entry location.

7. The method of claim 2, wherein the corresponding relationship between the preset perimeter interval and the preset number of needle insertion sites comprises: (94.2mm, 109.9 mm) corresponds to 2 needle insertion points, (109.9mm, 125.6 mm) corresponds to 3 needle insertion points, (125.6mm, 157 mm) corresponds to 4 needle insertion points, (157mm, 188.4 mm) corresponds to 5 needle insertion points, and if the diameter is larger than 188.4mm, corresponds to 6 needle insertion points.

8. The method of claim 1, wherein the circumvention objects comprise blood vessels, human organs, or vital tissues.

9. An apparatus for planning a needle insertion site of a lesion ablation needle, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to perform the method of any one of claims 1 to 8.

10. A method for manufacturing a needle guide plate is characterized by comprising the following steps:

determining a needle entry point location according to the method of any one of claims 1 to 8;

according to go into needle point position preparation slider, the slider includes cloth faller (131) body, the shaping has a plurality ofly to run through on the cloth faller (131) body guide pin hole (13 a) of the upper and lower terminal surface of cloth faller (131) body, the hole site of guide pin hole (13 a) is according to go into needle point position setting.

Technical Field

The application relates to the field of medical instruments, in particular to a method and equipment for planning an injection point of a lesion ablation needle.

Background

Tumor ablation therapy generally refers to a local interventional therapy technique for directly destroying tumors by various physical methods. The treatment modes comprise radio frequency, microwave, freezing, high-frequency electrocautery, laser, high-energy focused ultrasound, medicine and the like. The corresponding therapeutic equipment is called tumor/focus ablation equipment, the equipment is provided with an ablation needle which can be penetrated into a human body, when the treatment is carried out, the ablation needle needs to be accurately penetrated into the human body and reach the tumor or focus, and then the head end realizes the ablation through the above treatment mode.

The range of action of ablation needles in various forms is limited, particularly with respect to parameters such as power, energy level, drug type and dosage. Doctors need to make treatment plans according to factors such as the action range of the ablation needle, the volume and the position of a focus, and the like, so that the entire focus is ablated while surrounding tissues are prevented from being damaged as much as possible.

For lesions with a large volume, one needle insertion or one needle insertion point is not sufficient, i.e. a lesion needs to be positioned and punctured several times. At present, a doctor arranges needle insertion points by observing CT scanning images, the arrangement workload is large, the subjectivity is strong, and therefore the efficiency and the effect of ablation treatment can be reduced.

Disclosure of Invention

In view of this, the present invention provides a method for planning an insertion point of a lesion ablation needle, including:

determining a cross-sectional image for arranging an ablation needle according to the three-dimensional image data at the focus;

identifying size information of a lesion region in the cross-sectional image;

determining the number of needle entering positions according to the size information;

the number of needle inserting point positions are uniformly distributed for the lesion area, and a puncture path of the ablation needle perpendicular to the cross-sectional image and when the ablation needle reaches the needle inserting point positions is not overlapped with the avoidance object.

Optionally, the size information is a perimeter value; the step of determining the number of needle insertion points according to the size information specifically comprises the following steps:

determining a preset perimeter interval to which the perimeter value of the focus area belongs;

and acquiring the number of preset needle entering point positions corresponding to the preset perimeter interval.

Optionally, the needle insertion site is used for nano-knife puncture; the step of uniformly arranging the number of needle insertion point positions for the lesion area specifically includes:

identifying a gravity center point of the focus area, and determining a first needle inserting point position according to the gravity center point;

equally dividing the focus area into a plurality of sub-areas by taking the gravity center point as a center;

and determining other needle entering point positions aiming at the sub-areas respectively, wherein each sub-area corresponds to at least one needle entering point position.

Optionally, the determining the first needle insertion point position according to the center of gravity specifically includes:

judging whether the puncture path is overlapped with the avoidance object when passing through the gravity center point according to three-dimensional image data at the focus;

and if the puncture path passes through the center of gravity point and is overlapped with the avoidance object, determining the needle entering point position within a preset radius range by taking the center of gravity point as the center, so that the puncture path is not overlapped with the avoidance object.

Optionally, the determining the remaining needle insertion point positions for the sub-regions respectively specifically includes:

determining a undetermined point in the sub-area and at a preset distance from the edge;

judging whether the puncture path is overlapped with the evasive object when passing through the undetermined point according to three-dimensional image data at the focus;

and if the puncture path passes through the undetermined point and is superposed with the avoidance object, determining the position of a needle entering point within a preset radius range by taking the undetermined point as the center, so that the puncture path is not superposed with the avoidance object.

Optionally, there are a plurality of preset radii, and in the process of determining the needle entry point location within the preset radius range, the preset radii are gradually increased from the smallest preset radius, undetermined points are sequentially determined within each preset radius, and it is determined whether the corresponding puncture path coincides with the avoidance object, until the puncture path does not coincide with the avoidance object, and the corresponding undetermined points are used as the needle entry point location.

Optionally, the corresponding relationship between the preset perimeter interval and the preset number of needle insertion point locations includes: (94.2mm, 109.9 mm) corresponds to 2 needle insertion points, (109.9mm, 125.6 mm) corresponds to 3 needle insertion points, (125.6mm, 157 mm) corresponds to 4 needle insertion points, (157mm, 188.4 mm) corresponds to 5 needle insertion points, and if the diameter is larger than 188.4mm, corresponds to 6 needle insertion points.

Optionally, the circumvention object comprises a blood vessel, a human organ or a vital tissue.

Correspondingly, the invention provides a needle insertion point planning device for a lesion ablation needle, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the needle insertion point planning method for the lesion ablation needle when executing the program.

The invention also provides a manufacturing method of the guide pin plate, which comprises the following steps:

determining the needle insertion point position according to the needle insertion point position planning method of the lesion ablation needle;

according to go into needle point position preparation slider, the slider includes the fitting board 131 body, the shaping has a plurality ofly to run through on the fitting board 131 body the guide pin hole 13a of the upper and lower terminal surface of fitting board 131 body, the hole site of guide pin hole 13a is according to go into needle point position setting.

According to the needle insertion point planning method and device for the lesion ablation needle provided by the embodiment of the invention, the cross section image is determined for the three-dimensional lesion area, the operation can preliminarily eliminate objects which are shielded above the lesion and need to be avoided, such as blood vessels, organs, important tissues and the like, and the needle distribution work in the three-dimensional space is transferred to the two-dimensional plane. And then, the number of the total needle inserting positions required to be arranged is determined according to the size of the focus/tumor area in the two-dimensional plane, so that the sum of the action ranges of all the ablation needles can cover the focus area. Finally, the needle entering point positions are uniformly distributed aiming at the focus/tumor area, and objects are further avoided according to the three-dimensional image data during distribution, so that the action ranges of all ablation needles are reasonably distributed, and the damage to surrounding tissues is reduced or avoided while the ablation needles act on the whole focus/tumor area.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic illustration of a human liver and a tumor in the liver;

FIG. 2 is a schematic diagram of placement of ablation needle locations;

FIG. 3 is a plan view of the tumor profile and the needle placement position taken separately;

FIG. 4 is a schematic structural view of a needle distribution plate (with ablation needles) of an embodiment of the present application;

fig. 5 is a schematic structural diagram of a needle arrangement device of a lesion ablation needle according to an embodiment of the present application;

fig. 6 is a schematic view of an ablation needle penetrating a needle deployment device of a focal ablation needle of an embodiment of the present application;

fig. 7 is a schematic view of a connection structure of a mechanical arm of a lesion ablation system and a needle arrangement device of a lesion ablation needle according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a lesion ablation system according to an embodiment of the present application;

fig. 9 is a schematic structural view of a needle arrangement device of a lesion ablation needle according to another embodiment of the present application;

FIG. 10 is a schematic structural view of an ablation needle with scale information;

fig. 11 is a flowchart of a method for planning a needle insertion point of a lesion ablation needle according to an embodiment of the present application.

Reference numerals

10-liver; 11-a lesion; 12-a blood vessel; 13-needle insertion site; 131-a needle distribution plate; 13 a-guide pin hole; 14-an adapter plate; 141-a transfer hole; 15-a mechanical arm; 151-a fixed part; 16-an ablation needle; 17-the human body; 18-CT scanner; 20-gesture recognition means; 21-an optical detection probe; 22-scale information.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.

In this application, the terms "upper", "lower", "bottom", "inner", "outer", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Tumor ablation therapy generally refers to a local interventional therapy technique for directly destroying tumors by various physical methods. The treatment modes comprise radio frequency, microwave, freezing, high-frequency electrocautery, laser, high-energy focused ultrasound, medicine and the like. The corresponding therapeutic equipment is called tumor/focus ablation system, the equipment has an ablation needle 16 capable of penetrating into a human body 17, when the treatment is carried out, the ablation needle 16 needs to penetrate into the human body 17 accurately and reach the focus 11, and then the head end carries out the ablation by the above-mentioned treatment mode.

The range of action of ablation needle 16 is limited for each modality, depending on parameters such as power, energy level, drug type and dosage. The doctor needs to make a treatment plan according to the action range of the ablation needle 16, the volume and the position of the lesion 11, and the like, so as to ablate the entire lesion 11 and avoid the damage to the surrounding tissues as much as possible.

For lesions 11 with a large volume, one needle insertion or one needle insertion point is not sufficient, i.e. a lesion 11 needs to be positioned and punctured several times. However, at present, doctors arrange the needle insertion site 13 through observing the CT scanning image by experience, which causes large arrangement workload and strong subjectivity, thereby reducing the efficiency and effect of ablation treatment.

Furthermore, ablation of liver tumors is exemplified. Fig. 1 is a schematic diagram of a human liver 10 and a tumor in the liver. As can be seen from the figure, there are important tissue structures such as nerves and blood vessels 12 around the tumor, and the doctor needs to make a treatment plan according to the action range of the ablation needle 16, the volume and the position of the lesion 11, so as to avoid the injury to the surrounding tissue as much as possible while ablating the entire lesion 11.

The present embodiment provides a method for planning an insertion site of a lesion ablation needle, which may be executed by an electronic device such as a computer, a server, etc., and as shown in fig. 11, the method includes the following operations:

and S1, determining a cross-sectional image for arranging the ablation needle according to the three-dimensional image data of the lesion. In practical applications, the three-dimensional image may be CT scan data, or a three-dimensional model generated based on the CT scan data, or the like. When selecting a cross-section, the main influencing factors are whether there are other organs, important tissues or blood vessels between the cross-section and the body surface, and secondly whether this orientation facilitates the puncture from outside the body, whether the position of the patient is easy to fix, etc.

Organs, important tissues or blood vessels existing between the finally determined cross section and the body surface are as few as possible, so that the needle inserting point position can be determined more easily in subsequent operation, and the puncture path does not touch objects needing to be avoided. This step may be performed by a user (doctor) to select a cross section by observing the three-dimensional image, or by an apparatus to identify important organs and the like around the lesion based on the three-dimensional image data, thereby selecting an appropriate cross section.

And S2, identifying size information of the lesion region in the cross-sectional image. The size information may be area, circumference, diameter, etc. data that can characterize the size of the lesion. As shown in fig. 1-3, the cross section of the lesion is usually irregular, and in this step, the boundary of the lesion may be precisely identified by using a machine vision algorithm, and then the actual area or perimeter thereof may be calculated, or a graphic approximation calculation may be performed first, such as approximating the cross section of the lesion to an ellipse or a circle, and then calculating the approximated area or perimeter.

And S3, determining the number of needle inserting positions according to the size information. The size of the focus cross section is in direct proportion to the number of needle inserting points of the ablation needle, the larger the focus is, the more the number of the needle inserting points is, and the smaller the focus is. The minimum number of needle inserting points for a focus can be 1, and the maximum number is 6. The specific corresponding relationship is preset, for example, the number of the point locations can be calculated according to a set formula, or the corresponding relationship between a preset size range and the number of the needle insertion points can be inquired to obtain a result.

In addition, when the size information is an area, a circumference, or a diameter, the corresponding correspondence or calculation manner is different. Whether the specific corresponding relation is proper or not needs to be verified through experiments so as to realize comprehensive ablation on the focus and reduce the damage to other tissues of the human body as much as possible.

S4, uniformly arranging needle insertion points aiming at the lesion area, and keeping the puncture path of the ablation needle perpendicular to the cross section image and when the ablation needle reaches the needle insertion points not to coincide with the avoidance object. The uniform arrangement means that when the ablation needles reach the corresponding needle-inserting positions simultaneously or sequentially to perform ablation action, the sum of the action ranges of the ablation needles covers the whole lesion area, and the action ranges of the ablation needles are not overlapped as much as possible or slightly overlapped.

The uniform arrangement employed for each ablation device may also vary due to the different ranges of action of the different ablation devices. The different ablation devices refer to different ablation means, such as cryoablation, thermal ablation (microwave), electrical ablation (nano-knife), drug ablation, nuclear particle ablation, and the like.

For the same ablation device, such as a microwave ablation needle, under different working parameter settings, the range of action is different in size, so that even arrangement also needs to be performed according to the specific situation of the ablation device.

The evasive objects include blood vessels, human organs, or vital tissues. Taking the cases shown in fig. 2 and 3 as an example, there are blood vessels 12 around the lesion 11 (liver tumor), and when the ablation needle is disposed in the needle site 13, it is also necessary to ensure that the ablation needle does not touch the blood vessels 12 when penetrating the lesion perpendicular to the cross section shown in fig. 3 under the premise of uniform disposition.

Therefore, when the needle point location is arranged, three-dimensional image data needs to be inquired for each point location, and whether the evasive object exists around the three-dimensional space is judged. The needle entry location may then be selected based on the projection of the evasive object onto the cross-section to ensure that the puncture path avoids the evasive object.

According to the needle insertion point planning method for the lesion ablation needle provided by the embodiment of the invention, firstly, a cross section image is determined according to a three-dimensional lesion area, the operation can preliminarily eliminate objects which are shielded above a lesion and need to be avoided, such as blood vessels, organs, important tissues and the like, and the needle distribution work in a three-dimensional space is transferred to a two-dimensional plane. And then, the number of the total needle inserting positions required to be arranged is determined according to the size of the focus/tumor area in the two-dimensional plane, so that the sum of the action ranges of all the ablation needles can cover the focus area. Finally, the needle entering point positions are uniformly distributed aiming at the focus/tumor area, and objects are further avoided according to the three-dimensional image data during distribution, so that the action ranges of all ablation needles are reasonably distributed, and the damage to surrounding tissues is reduced or avoided while the ablation needles act on the whole focus/tumor area.

In order to avoid the evasive objects and maintain the uniform arrangement of the needle insertion sites, step S3 specifically adopts the following manner in the preferred embodiment:

s31, determining a preset perimeter interval to which the perimeter value of the focus area belongs;

and S32, acquiring the number of preset needle inserting positions corresponding to the preset perimeter interval.

In this embodiment, the correspondence between the preset perimeter interval and the number of preset needle insertion sites includes that (94.2mm, 109.9 mm) corresponds to 2 needle insertion sites, (109.9mm, 125.6 mm) corresponds to 3 needle insertion sites, (125.6mm, 157 mm) corresponds to 4 needle insertion sites, (157mm, 188.4 mm) corresponds to 5 needle insertion sites, and if the length is greater than 188.4mm, it corresponds to 6 needle insertion sites.

The lesion 11 as shown in figures 1-3 has a cross-sectional circumference greater than 188.4mm and is therefore identified as 6 needle insertion sites.

And S41, identifying the gravity center point of the focus area, and determining a first needle inserting point position according to the gravity center point. The gravity center point can be the actual gravity center of the irregular focus shape or the gravity center of the approximate shape.

Further, whether the puncture path coincides with the avoidance object when passing through the center of gravity point is judged according to the three-dimensional image data of the focus, if not, namely the puncture path corresponding to the center of gravity point does not pass through human organs, important tissues and blood vessels, the center of gravity point is directly determined as a first needle inserting point, for example, a needle inserting point 13 positioned in the center of the focus in fig. 3 is the center of gravity point of the cross section of the focus.

And if the puncture path is overlapped with the avoidance object when passing through the center of gravity point, determining the needle entering point position within the preset radius range by taking the center of gravity point as the center. For example, if the preset radius is 5mm, searching a needle entering point position in a circular area with the radius of 5mm by taking a center of gravity point as a center, and inquiring three-dimensional image data until a point which does not have an evasive object around a three-dimensional space is searched, so that the puncture path is not overlapped with the evasive object.

Furthermore, in the process of determining the needle entry point position within the preset radius range, the preset radius is gradually increased from the minimum preset radius, undetermined points are sequentially determined within each preset radius, whether the corresponding puncture path coincides with the avoidance object or not is judged until the puncture path does not coincide with the avoidance object, and the corresponding undetermined points are used as the needle entry point position.

Specifically, assuming that the needle insertion point position cannot be confirmed in a circular area with a radius of 5mm centered on the center of gravity, the radius is enlarged to 10mm, the above process is repeated to search for the needle insertion point position, and so on, and the radius can be enlarged to 15mm, 20mm, and so on again until the first needle insertion point position is confirmed.

And S42, dividing the focus area into a plurality of sub-areas by taking the gravity center as a center. The rule for this step of averaging is to equalize the area of each sub-region.

And S43, determining the rest needle inserting positions aiming at the sub-regions respectively, wherein each sub-region corresponds to at least one needle inserting position. Further, the undetermined point is determined in the sub-area and at a preset distance from the edge, the preset distance is 5mm in the embodiment, and the selectable range of the preset distance is 0.1mm-20mm in other embodiments, which is set according to the action range of the ablation needle. And then judging whether the puncture path is overlapped with the avoidance object when passing through the undetermined point according to the three-dimensional image data at the focus, and if not, determining the undetermined point as the needle entering point position of the sub-region.

And if the puncture path passes through the undetermined point and is overlapped with the avoidance object, determining the position of the needle entering point within the preset radius range by taking the undetermined point as the center, so that the puncture path is not overlapped with the avoidance object. The process is similar to the search process in step S41, and is not described here again.

In this embodiment, each sub-region is provided with only one needle insertion point, for example, 5 needle insertion points at the edge of the lesion in fig. 3, that is, corresponding to 5 sub-regions.

The method provided by the application is particularly suitable for arranging needle entering positions (electrode needles) of a nanometer knife (NanoKnife), the nanometer knife at least needs to be provided with two electrode needles, namely two needle entering positions are needed, tumor cells are located between the two electrode needles, the polarities of the two electrode needles are opposite, and high-voltage direct current pulse current reaches tumor tissues through the mediation of the electrode needles to form a structure similar to a capacitor. When the focus with larger size is faced, a plurality of needle inserting point positions can be arranged according to the method provided by the application, the needle inserting point position at the center of gravity of the cross section of the focus is set to be of a first polarity, and the needle inserting point position at the edge of the cross section of the focus is set to be of a second polarity, so that the center electrode needle and each peripheral electrode needle are simultaneously or sequentially and continuously charged and discharged, the redistribution of the whole focus area is caused, the permeability of a cell membrane is increased, and then the irreversible electroporation effect is generated on the cell membrane, so that tumor cells are dead.

The application also provides a manufacturing method of the needle guide plate, which comprises the steps of firstly determining the needle insertion point position according to the needle insertion point position planning method of the focus ablation needle; then, a needle guide plate is manufactured according to the needle entering point position, the needle guide plate comprises a cloth needle plate 131 body, a plurality of needle guide holes 13a penetrating through the upper end surface and the lower end surface of the cloth needle plate 131 body are formed in the cloth needle plate 131 body, and the hole positions of the needle guide holes 13a are arranged according to the needle entering point position. At least the following embodiments are included with respect to the slider structure.

Example 1

Fig. 2 is a schematic diagram of the location of the ablation needle 16; FIG. 3 is a plan view of the tumor profile and the needle placement position taken separately; fig. 4 is a schematic structural diagram of the needle distribution plate 131 with the ablation needles 16 according to the embodiment of the present application.

Therefore, the needle distribution plate 131 of the focal 11 ablation needle 16 includes a needle distribution plate 131 body, a plurality of needle guide holes 13a penetrating through upper and lower end surfaces of the needle distribution plate 131 body are formed in the needle distribution plate 131 body, and the hole positions of the needle guide holes 13a are arranged according to the needle insertion positions 13 of the focal 11 ablation needle 16.

The needle distribution plate 131 provided by the embodiment of the present application provides a new idea of ablation for a doctor in combination with a planning method (see below) for needle insertion positions 13 of a lesion 11 ablation needle 16 provided by the applicant, and although in the prior art, the doctor firstly makes a treatment plan according to factors such as the volume, position, power of the ablation needle 16, and the like of the lesion 11, when the ablation is performed, the needle placement needs to be performed for a plurality of times by virtue of the experience of the doctor, the subjective view is strong, the workload is large, and the precision of the needle placement position is poor, so that the efficiency and the effect of the ablation quality are reduced, while the needle distribution plate 131 provided by the embodiment of the present application, by forming a plurality of guide needle holes 13a penetrating through the upper and lower end surfaces of the needle distribution plate 131 body and arranged according to the needle insertion positions 13 of the preset lesion 11 ablation needle 16 on the needle distribution plate 131 body, the doctor can directly guide the needle placement for a plurality of times in the plurality of guide needle holes 13a, the subjectivity of doctors is reduced, the labor work is reduced, and the efficiency and the effect of ablation treatment are improved.

As a preferred embodiment of the present application, the needle distribution plate 131 of the ablation needle 16 of the lesion 11 provided in the present embodiment may be suitable for electroporation ablation.

Electroporation ablation is a new tumor ablation technique, which uses high-voltage short-pulse discharge to cause the nano-scale perforation of cell membrane, resulting in apoptosis, and is therefore considered as a kind of "molecular ablation". From the experience of medical clinical feedback, the non-heat-production ablation technology has the advantages of clear boundary of an ablation area, capability of retaining important tissue structures of nerves, blood vessels 12, ureters, bronchus, large bile ducts, gastrointestinal walls and the like of the ablated area, no influence of heat or cold absorption of blood flow, short ablation time and the like. The technology makes up the technical defects of radio frequency, microwave and cryoablation. By utilizing the electroporation ablation technology, at least 2 ablation needles 16 are needed for each operation, one ablation needle serves as a positive electrode, the other ablation needle serves as a negative electrode, and an electric field is formed between the positive electrode and the negative electrode to perform discharge ablation. In order to achieve uniform discharge energy, positive and negative ablation needles 16 need to be advanced into the tumor site in parallel.

However, at present, doctors manually insert a plurality of needles by experience, and it is difficult to ensure accurate insertion positions and mutual parallel relation of the needles, which results in poor operation effect.

In the embodiment of the present application, as shown in fig. 4 and 5, the plurality of guide pin holes 13a of the needle plate 131 of the ablation needle 16 of the lesion 11 are parallel to each other. The plurality of guide pin holes 13a are arranged in parallel on the needle distribution plate 131, so that the needle distribution plate 131 of the embodiment of the application can be suitable for electroporation ablation (also called as nano-knife ablation), as the electroporation ablation needs at least 2 ablation needles 16, one as an anode and the other as a cathode, and an electric field is formed between the anode and the cathode for discharge ablation, when the ablation is performed, a doctor can penetrate the ablation needle 16 as the anode or the cathode into the corresponding guide pin hole 13a according to a preset needle inserting point planning method.

Further, as shown in fig. 4, in order to facilitate the planning design of the needle insertion sites 13, the plurality of needle guide holes 13a are perpendicular to the upper and lower end surfaces of the body of the needle distribution plate 131. The relationship between this setting and the planning of the needle insertion point 13 is described in detail below.

The outer contour shape of the needle distribution plate 131 body is adapted to the outer contour shape of the focus 11. The needle distribution plate 131 provided by the embodiment of the application adapts the outer contour shape of the needle distribution plate 131 body to the outer contour shape of the focus 11, which is beneficial to setting the position of the needle guide hole 13a on the needle distribution plate 131 body according to a preset needle entering point planning method.

As shown in fig. 4, in order to cover the whole area of the lesion 11 as much as possible, one of the plurality of needle guide holes 13a is disposed at the geometric center of gravity of the body of the cloth needle plate 131, and the rest of the needle guide holes 13a are disposed at intervals along the edge of the body of the cloth needle plate 131 with the needle guide hole 13a at the geometric center of gravity as the center; the guide pin holes 13a at the geometric gravity center are substantially consistent with the spacing of the rest of the guide pin holes 13 a. Specifically, in the present embodiment, the number of the guide pin holes 13a is 6, one guide pin hole 13a is disposed at the geometric center of gravity of the body of the cloth needle plate 131, and the remaining 5 guide pin holes 13a are disposed at intervals along the edge of the body of the cloth needle plate 131. The guide pin holes 13a at the geometric gravity center penetrate the ablation pins 16 as the positive electrode, the rest guide pin holes 13a at the edge of the body of the needle distribution plate 131 penetrate the ablation pins 16 as the negative electrode, and the ablation pins 16 at the positive electrode in the middle and the ablation pins 16 at the negative electrodes at the periphery form a plurality of pairs of positive and negative electrodes to realize paired discharge. Or the guide needle hole 13a at the geometric center of gravity is penetrated into the ablation needle 16 as the negative pole, and the guide needle holes 13a at the periphery are penetrated into the ablation needle 16 as the positive pole. Through the arrangement mode, the 6 ablation needles 16 form 5 pairs of ablation needles 16 with positive and negative electrodes, and the whole area of the focus 11 can be covered, so that the focus 11 can be completely ablated.

According to the needle distribution plate 131 provided by the embodiment of the application, one of the plurality of guide pin holes 13a is arranged at the geometric center of gravity of the needle distribution plate 131 body, the rest of the guide pin holes 13a are arranged at intervals along the edge of the needle distribution plate 131 body by taking the guide pin hole 13a positioned at the geometric center of gravity as the center, the guide pin hole 13a positioned at the geometric center of gravity is used for the ablation needle 16 as a positive electrode or a negative electrode to pass through, and the rest of the guide pin holes 13a are used for the ablation needle 16 as a negative electrode or a positive electrode to pass through.

In order to ensure that the ablation range of the ablation needle 16 can cover the whole area of the lesion 11, and the needle inserting times and the needle inserting quantity of the ablation needle 16 are as small as possible to ensure the operation efficiency, the positions of the guide needle holes 13a and the ablation needles 16 arranged along the edge of the needle distribution plate 131 body at intervals need to be finely designed. In the embodiment of the present application, the rest of the guide pin holes 13a are spaced from the edge of the body of the needle distribution plate 131 by 0.1mm to 20 mm. Preferably, the rest of the guide pin holes 13a are 5mm away from the edge of the body of the needle distribution plate 131. The applicant finds that the ablation needle 16 can be ablated in the area of 5mm around the needle rod of the ablation needle 16 during discharging, so that the needle distribution plate 131 provided by the embodiment of the application arranges the rest of the guide needle holes 13a 5mm away from the edge of the needle distribution plate 131 body, and the ablation range of the ablation needle 16 can cover the whole area of the lesion 11, and the number of the ablation needles 16 can be reduced.

Further, the cloth needle plate 131 of the embodiment of the present application is a cloth needle plate 131 with information on the thickness of the lesion 11 generated from a plan view, that is, the thickness dimension of the cloth needle plate 131 substantially coincides with the thickness dimension of the lesion 11. Through the arrangement, when a doctor punctures the ablation needle 16 through the guide pin hole 13a, the puncture stroke of the needle point of the ablation needle 16 in the focus 11 in the human body 17 can be reflected through the puncture stroke of the ablation needle 16 in the guide pin hole 13a, so that the ablation treatment effect can be ensured.

The needle distribution plate 131 provided in the embodiments of the present application is preferably used for electroporation ablation of liver tumors, but it should be understood that in other embodiments, the lesion 11 may also be tumors in other locations.

Example 2

Fig. 5 is a structural diagram of a needle arrangement device of a lesion 11 ablation needle 16 according to an embodiment of the present application; fig. 6 is a schematic view of a needle placement device for an ablation needle 16 penetrating a lesion 11 of an embodiment of the present application. As shown in fig. 5 and 6, the present application provides a needle distribution device for a lesion 11 ablation needle 16, which includes a needle distribution plate 131 of example 1, and an adapter plate 14. Wherein the content of the first and second substances,

the adapter plate 14 is provided with a cloth needle plate 131 mounting part for mounting the cloth needle plate 131, the cloth needle plate 131 mounting part is provided with a hole which penetrates through the adapter plate 14 and corresponds to the guide pin hole 13a, and the cloth needle plate 131 is mounted on the cloth needle plate 131 mounting part; the adapter plate 14 also has an adapter connection for adapting to other instruments.

Specifically, in the present embodiment, the needle board 131 mounting portion includes a board surface of the adapter board 14 and a hole formed on the adapter board 14, penetrating through the adapter board 14 and corresponding to the needle guide hole 13a on the needle board 131. Before the ablation, the cloth needle plate 131 is placed on the mounting part of the cloth needle plate 131, and the two are fixed in position by some fixing means, such as bonding, fastener connection, welding, clamping and the like.

As an alternative embodiment of the installation part of the cloth needle plate 131, the installation part of the cloth needle plate 131 may also be a groove formed on the plate surface of the adapter plate 14 and conforming to the outer contour shape and size of the cloth needle plate 131, a plurality of holes corresponding to the guide pin holes 13a of the cloth needle plate 131 are formed at the bottom of the groove, the adapter plate 14 can be quickly assembled on the adapter plate 14 by guiding the groove, and one or a combination of the above fixing means is adopted to fix the position of the two.

The switching connection part is a plurality of switching holes 141 formed at one end of the switching plate 14, and the porous electrode perforation ablation needle 16 needle distribution device can be switched to other instruments through the plurality of switching holes 141.

In addition, as shown in fig. 9, in the needle distribution device of another embodiment of the present application, an optical detection probe 21 is further included, and the optical detection probe 21 is provided on the adapter plate 14 and located on one side of the needle distribution plate 131, and is arranged opposite to the ablation needle 16 penetrating into the needle distribution plate 131; the outside of the needle tube of the ablation needle 16 is provided with scale information 22 which can be identified by the optical detection probe 21 and has different lengths from the needle end.

Illustrated in fig. 10 is a scale made on the outside of the needle cannula made of the fluorescent dye cy3 or cy 5. The needle tube is provided with different scale information 22 at different distances from the needle end, when the ablation needle 16 passes through the guide needle hole 13a of the needle distribution plate 131, the lateral optical detection probe 21 monitors the change of the scale value in real time, and when the preset scale value is reached, the system can prompt that the needle has punctured to the place value. The preferable material for manufacturing the cloth needle plate 131 is transparent quartz, which has good light transmittance, so that the optical detection probe 21 can well read the fluorescent dye scale of the knife.

Example 3

Fig. 7 is a schematic view illustrating a connection structure of a mechanical arm 15 of a lesion ablation system and a needle arrangement device of an ablation needle 16 of a lesion 11 according to an embodiment of the present application; fig. 8 is a schematic structural view of a lesion 11 ablation system according to an embodiment of the present application; as shown in the drawings, the present application provides a lesion ablation system, including the needle arrangement device, the surgical navigation system, the CT scanning bed and the CT scanner 18 of embodiment 2. Wherein the content of the first and second substances,

the operation navigation system comprises a mechanical arm 15, one end of the mechanical arm 15 is fixedly connected with the switching connecting part of the needle distribution device, and the other end of the mechanical arm is provided with a fixing part 151 used for being fixed with the CT scanning bed.

Further, the lesion 11 ablation system further includes a posture recognition device 20, disposed on the adaptor plate 14, for recognizing posture information of the adaptor plate 14; the operation navigation system adjusts and corrects the posture of the adapter plate 14 according to the comparison information between the posture information of the adapter plate 14 and the posture information of the focus 11 so that the adapter plate 14 and the needle distribution plate 131 are automatically aligned with the focus 11 of the human body 17. Preferably, the gesture recognition device 20 is a gyroscope chip.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.