CN118303986B

CN118303986B - Method and device for determining execution parameters of vapor needle and vapor ablation system

Info

Publication number: CN118303986B
Application number: CN202410732430.6A
Authority: CN
Inventors: 史策; 窦玉婷; 陈文波; 赵静
Original assignee: Beijing Zhiyu Medical Technology Co ltd
Current assignee: Beijing Zhiyu Medical Technology Co ltd
Priority date: 2024-06-07
Filing date: 2024-06-07
Publication date: 2024-11-08
Anticipated expiration: 2044-06-07
Also published as: CN118303986A

Abstract

The application provides an execution parameter determining method and device for a vapor needle and a vapor ablation system, comprising the following steps: s1: a needle outlet point position presetting step, namely acquiring an initial image of a target area, determining the number of needle outlet points based on the initial image, and determining preset parameters of each needle outlet point position; s2, vapor needle image registration, namely acquiring a virtual needle image of a vapor needle, and superposing and displaying the virtual needle image in an initial image; acquiring a real-time image of the target area, wherein the real-time image comprises a vapor needle image corresponding to the vapor in the target area; registering the real-time image with the initial image; s3, parameter determining, namely establishing a mapping relation between the moving distance of the vapor needle image in the real-time image and the moving distance of the virtual needle image in the initial image; and converting the preset parameters of the needle outlet point positions into the execution parameters of the vapor needle at least based on the mapping relation, thereby improving the operation precision and efficiency.

Description

Method and device for determining execution parameters of vapor needle and vapor ablation system

Technical Field

The application relates to a method and a device for determining an execution parameter of a vapor needle and a vapor ablation system, which can be applied to an automatic vapor ablation system or a semiautomatic vapor ablation system, can quickly determine the execution parameter of the vapor needle, and improve the operation precision and efficiency of vapor ablation operation.

Background

In the prior art, a steam needle is used for tissue ablation, after an executing device is inserted into a urethra by a doctor in the use process of the product, a treatment point for tissue ablation is required to be judged according to experience, a position which is considered to be proper by the doctor is selected, the steam needle is controlled to be out, a handle or a button is operated and the like is operated to release steam, when a plurality of treatment points exist, after the steam release is required to be completed at a first needle outlet position, the steam needle is withdrawn, the steam needle is moved to a second needle outlet position to be out and released, and the steam release is carried out, and the operation is repeated until the needle outlet and the steam ablation at the plurality of treatment points are executed.

The process requires manual and repeated operation of doctors, has lower efficiency and depends on the experience of the doctors to finish the positioning of the needle outlet position of the vapor needle, and because of individual differences of tissue region characteristics of each patient, the ablation effect of releasing vapor after the vapor needle is inserted has a blind box effect, and the action range and the treatment effect cannot be accurately predicted, so that larger uncertainty is brought to the vapor ablation operation effect, and unexpected damage is possibly caused. In addition, the length of the vapor needle extending from the sheath tube and the spraying range of the vapor in the prior art are fixed, cannot be dynamically adjusted according to the operation requirement, cannot be suitable for patients with large individual differences, for example, for patients with small or large tissue volumes, and can cause insufficient operation effect such as excessive or insufficient excision range.

Disclosure of Invention

The present application has been made in view of the above problems of the related art, and an object of the present application is to provide a method and apparatus for determining an execution parameter for a vapor needle, and a vapor ablation system, which can improve operation accuracy and efficiency. In order to achieve the above object, the present application provides a method for determining an execution parameter for a vapor needle, comprising the steps of: s1, presetting needle outlet points, namely acquiring an initial image of a target area, determining the number of the needle outlet points based on the initial image, and determining preset parameters of each needle outlet point, wherein the preset parameters of each needle outlet point comprise an action center position and an ablation radius; s2, vapor needle image registration, namely acquiring a virtual needle image of the vapor needle, and superposing and displaying the virtual needle image in the initial image; acquiring a real-time image of the target area, wherein the real-time image comprises a vapor needle image corresponding to the vapor in the target area; registering the real-time image with the initial image; s3, a parameter determining step, namely establishing a mapping relation between the moving distance of the vapor needle image in the real-time image and the moving distance of the virtual needle image in the initial image; and converting the preset parameters of the needle outlet point positions into the execution parameters of the vapor needles at least based on the mapping relation.

In a preferred manner, the vapor needle is insertable into the needle exit point in an axis-defined direction in accordance with the execution parameters; in the preset parameters of each needle outlet point position, the action center position comprises: the steam needle is provided with a preset needle outlet position, a preset needle outlet angle and a preset needle outlet length; the ablation radius is a preset vapor action range.

According to the technical scheme, the position of each point position and the corresponding preset parameters of the vapor needle are preset, so that the precision and the efficiency of the positioning and the operation of the vapor needle are improved conveniently.

In a preferred mode, the preset needle outlet position is a position of the needle outlet point in the axis limiting direction, the preset needle outlet length is a length of the needle head of the vapor needle extending transversely to the axis, and the preset needle outlet angle is an included angle between the needle outlet direction of the vapor needle and the axis limiting direction.

In a preferred manner, in the parameter determining step, establishing the mapping relationship includes: and controlling the vapor needle to move, observing the pixel distance of the vapor needle image moving in the real-time image, simultaneously enabling the virtual needle image to move in the same direction in the initial image by the same pixel distance, and acquiring a scaling factor according to the position deviation of the two.

In a preferred manner, the performance parameters of the vapor needle include: executing a needle outlet position, executing a rotation angle, executing a needle outlet length and executing an ablation radius, wherein the execution rotation angle is determined based on the preset needle outlet angle, and the executing the needle outlet position, the executing the needle outlet length and the executing the ablation radius are determined based on the preset needle outlet position, the preset needle outlet length, the ablation radius and the scaling factor respectively.

In a preferred mode, in the vapor needle image registration step, the real-time image is registered with the initial image, and then the position and/or posture of the vapor needle is adjusted so that the vapor needle image in the real-time image is registered with the virtual needle image in the initial image.

In a preferred mode, in the vapor needle image registration step, a virtual ablation range corresponding to the virtual needle image, and an intersection area of a planned ablation range corresponding to the preset parameter is larger than a preset range threshold.

In a preferred manner, the real-time image is a sagittal image of the target region; and executing the vapor needle image registration step under the condition that the included angle between the vapor needle and the sagittal plane is smaller than a preset angle threshold.

In a preferred mode, the magnitude of the included angle between the vapor needle and the sagittal plane is observed and adjusted according to a gradient setting in the real-time image, which gradually darkens towards both ends of the vapor needle image with the highlighted area of the vapor needle image as the center.

The application also provides an execution parameter determining device for the steam needle, which is characterized by comprising the following modules: the needle outlet point position presetting module is used for acquiring an initial image of a target area, determining the number of needle outlet points based on the initial image, and determining preset parameters of each needle outlet point position, wherein the preset parameters of each needle outlet point position comprise an action center position and an ablation radius; the vapor needle image registration module is used for acquiring a virtual needle image of the vapor needle and superposing and displaying the virtual needle image in the initial image; acquiring a real-time image of the target area, wherein the real-time image comprises a vapor needle image corresponding to the vapor in the target area; registering the real-time image with the initial image; the parameter determining module is used for establishing a mapping relation between the moving distance of the vapor needle image in the real-time image and the moving distance of the virtual needle image in the initial image; and converting the preset parameters of the needle outlet point positions into the execution parameters of the vapor needles at least based on the mapping relation.

The application also provides a steam ablation system, which comprises an imaging unit, a control unit and a control unit, wherein the imaging unit is used for providing real-time images of a target area; a steam needle slidably disposed within the sheath, capable of being inserted into a predetermined lumen along with the sheath, and extending from an insertion end of the sheath to the target area; and the control unit is used for determining the execution parameters of the vapor needle according to the execution parameter determination method for the vapor needle and controlling the vapor needle to execute the ablation operation.

According to the technical scheme provided by the application, the execution parameters of the controllable and adjustable vapor needle executing mechanism are set for the special scene of vapor needle tissue ablation, and the association between the planning parameters and the execution parameters is established by registering the vapor needle image and the virtual needle image, so that the visual auxiliary operation is realized, the treatment scheme is convenient to quickly determine, the pose of the vapor needle is favorable for quickly and accurately positioning in the operation process, and the operation efficiency and the operation precision can be greatly improved.

Drawings

In order to more clearly illustrate the present application, the following description and the accompanying drawings of the present application will be given. It should be apparent that the figures in the following description merely illustrate certain aspects of some exemplary embodiments of the present application, and that other figures may be obtained from these figures by one of ordinary skill in the art without undue effort.

Fig. 1 is a flowchart of a method for determining an execution parameter of a vapor needle according to an embodiment of the application.

Fig. 2 is a schematic diagram of a target area and each planar image according to an embodiment of the application.

Fig. 3 is a schematic view of a pin-out point in a horizontal plane image according to an embodiment of the present application.

Fig. 4 is a schematic view of an out-needle point in a sagittal image according to an embodiment of the present application.

Fig. 5 is a schematic view of an outgoing point in a cross-sectional image according to an embodiment of the present application.

Fig. 6 is a schematic illustration of a virtual needle image and vapor needle in a sagittal image provided in accordance with an embodiment of the present application.

FIG. 7 is a schematic illustration of corners in a cross-sectional image provided in accordance with an embodiment of the present application.

Fig. 8 is a schematic view of a needle head structure of a vapor needle according to an embodiment of the present application.

Fig. 9 is a schematic view of the principle of the temperature field of the action area of the vapor needle according to an embodiment of the present application.

Fig. 10 is a schematic structural view of a vapor ablation system according to an embodiment of the present application.

Fig. 11 is a schematic structural view of a vapor actuator in a vapor ablation system according to an embodiment of the present application.

Description of the drawings:

11. First point position

110. Primary sheath outlet

12. Second point location

120. Secondary sheath outlet

13. Third point location

14. Fourth point location

21. Virtual needle

22. Steam needle

220. Vapor needle outlet

220' Vapor needle exit image

3. Sheath tube

4. Target area

5. Handle

Detailed Description

Various exemplary embodiments of the present application are described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the application, its application, or uses. The present application may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, numerical expressions and values, etc. set forth in these embodiments are to be construed as illustrative only and not as limiting unless otherwise stated.

As used herein, the word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements.

All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Parameters of, and interrelationships between, components, and control circuitry for, components, specific models of components, etc., which are not described in detail in this section, can be considered as techniques, methods, and apparatus known to one of ordinary skill in the relevant art, but are considered as part of the specification where appropriate.

It should be noted that while the operations of the method of the present application are described in a particular order, this does not require or imply that the operations must be performed in the particular order or that all of the illustrated operations be performed in order to achieve desirable results. Rather, the steps depicted in the flowcharts may change the order of execution. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.

Referring first to fig. 1-2, fig. 8-11 generally illustrate a method of determining the performance parameters of vapor needle 22.

The present application introduces heated vapor into the interior of the target area 4 to be ablated or resected by the vapor needle 22, ablating the target area 4 by releasing the vapor. It should be noted that the vapor according to the present application includes, but is not limited to, water vapor, and may be other ablation medium in a gaseous/gas-liquid two-phase state.

The vapor needle 22 comprises an elongated body slidably disposed within the sheath 3, where the target area 4 is illustratively the prostate, the vapor needle 22 being capable of being inserted into a predetermined site along a passageway defined by the sheath 3 or the like through a predetermined lumen such as the urethra, after which the needle tip of the vapor needle 22 extends from the distal end of the sheath 3 and is inserted into the target area 4, and the vapor being ejected from the needle opening near the front needle tip of the vapor needle 22, the high temperature vapor being ejected from the needle opening and rapidly dispersed through the interstitial space by convection, and then condensed and liquefied, releasing a large amount of heat to immediately promote necrosis of the proliferating tissue cells, which after cell necrosis is gradually and naturally atrophied, reduced in volume, and finally absorbed by the human body for the purpose of ablating surrounding tissue.

It should be appreciated that the vapor needle 22 of the present application is applicable not only to ablation of the prostate but also to ablation of other tissues in similar situations, and is not particularly limited.

Fig. 8 is a schematic view of a structure of a vapor needle 22, and it can be seen that a plurality of air outlet pinholes are provided near the needle head of the vapor needle 22, the pinholes can be provided in a plurality of rows, the needle body is hollow, the vapor passes through the hollow needle body from the vapor generating device to the pinholes, the formed temperature field is as shown in fig. 9, and fig. 9 is a schematic view of a temperature field principle of an action area of the pinholes of the vapor needle 22 for ejecting the vapor. It can be seen that a substantially spherical temperature field distribution is formed around the pinhole. It should be noted that, the temperature field distribution shape shown in fig. 9 is only approximately spherical, and is not strictly spherical, and the temperature field distribution shape may be slightly different according to the difference of the pinhole arrangement lengths, and may be ellipsoidal or peach-shaped in more cases. It should be appreciated that whatever shape, a spherical fit may be employed and the radius R of the generally spherical region obtained. It has been shown that temperature is one of the decisive parameters affecting cell survival and that elevated temperatures can alter the permeability and fluidity of cell membranes, leading to primary cytoplasmic destruction. When the temperature of the tissue reaches above 60-100 ℃, the cells can be thermally coagulated and necrotized within 10 seconds. Therefore, the ablation region is defined by a parameter R, which is the region radius of the approximately spherical vapor action range, which correlates with the vapor needle 22 temperature field distribution, e.g., a region having a temperature of 60 ℃ or higher in the vicinity of the needle hole, in accordance with the temperature field distribution law.

Fig. 10 is a schematic structural diagram of a steam ablation system according to an embodiment of the present application. The vapor ablation system includes a vapor execution structure, a motion control module, an image planning module, and an ultrasound stepper module.

The vapor actuator includes a vapor needle assembly and a handle assembly. Wherein the vapor needle assembly may comprise a sheath 3, the front end of the sheath 3 having a vapor needle outlet 220 through which the vapor needle 22 may protrude. A handle assembly is attached to the sheath 3 and the vapor needle 22, and movement of the vapor needle 22 and release of vapor can be controlled by manipulating the handle assembly.

The motion control module is attached to the vapor needle 22 of the vapor actuator, and can control the motion of the vapor needle 22 and the release of the vapor, in this embodiment, the sheath 3 is elongated as a whole, and the direction in which the elongated sheath 3 extends as a whole is defined by the axis, that is, the axis, and the motion controlled by the motion control module includes: the linear movement of the vapor needle 22 in the axial direction, the rotational movement of the vapor needle 22 in a cross section perpendicular to the axial direction, the protruding movement of the needle tip of the vapor needle 22 from the vapor needle outlet 220 in a direction substantially transverse to the axial direction to the treatment site; the motion control module may also control the vapor application range of the vapor needle 22.

The image planning module comprises an MR or ultrasonic or endoscope or fusion image generation module and a planning module, and can plan based on the image to obtain planning parameters.

An ultrasound stepper module contains an ultrasound probe (e.g. a rectal ultrasound probe TRUS) and a stepper device that drives the ultrasound probe in a linear and/or rotational motion.

The motion control module comprises four sub-modules, namely a linear motion control sub-module, a rotary motion control sub-module, a depth control sub-module and an action range control sub-module. Wherein the linear motion control submodule comprises a linear motion driving motor and a linear motion transmission assembly, and is used for controlling the linear motion of the vapor needle 22 along the axial direction; the rotary motion control submodule comprises a rotary motion driving motor and a rotary motion transmission assembly, and is used for controlling the steam needle 22 to perform rotary motion in the cross section; the depth control sub-module includes a drive motor and an actuation mechanism for controlling movement of the needle tip of the vapor needle 22 from the vapor needle outlet 220 in a direction generally transverse to the axial direction to the treatment site; the action range control submodule comprises a steam control mechanism and an actuating mechanism and is used for controlling the action range of steam by adjusting parameters such as temperature, pressure, action time, speed and the like of the steam. The motion control module can convert the planning parameters of the image planning module into execution parameters and enable each sub-module to control actions according to the execution parameters.

Referring to fig. 1, the present application provides a method for determining an execution parameter of a vapor needle 22, which mainly comprises the following steps:

step S1: a needle outlet point position presetting step, namely acquiring an initial image of a target area 4, determining the number of needle outlet points based on the initial image, and determining preset parameters of each needle outlet point position, wherein the preset parameters of each needle outlet point position comprise an action center position and an ablation radius;

Step S2: a vapor needle image registration step, namely obtaining a virtual needle image of the vapor needle, and superposing and displaying the virtual needle image in the initial image; acquiring a real-time image of the target area 4, wherein the real-time image comprises a vapor needle image corresponding to the vapor needle in the target area 4; registering the real-time image with the initial image;

Step S3: and a parameter determining step, wherein a mapping relation between the moving distance of the vapor needle image in the real-time image and the moving distance of the virtual needle image in the initial image is established, and the preset parameter of the needle outlet point position is converted into the execution parameter of the vapor needle at least based on the mapping relation.

The following describes the steps of the above method in detail:

In the step of presetting the needle point position in S1, an initial image of the target area 4 is first acquired.

The Image planning module is utilized to acquire an Image of the area where the target area 4 is located, an ultrasonic stepper can be adopted to drive an ultrasonic probe to acquire a three-dimensional or key two-dimensional plane ultrasonic Image containing the target area 4, the ultrasonic probe is calibrated, the calibrated ultrasonic probe is used to acquire a cross-section Image of the target area 4, namely, the size conversion relation between pixels in ultrasonic and the real world is calibrated, the conversion matrix T_us_image2world is defined, the cross-section Image of the target area 4 is acquired through scanning with a fixed step length, the acquired series of cross-section images are subjected to three-dimensional reconstruction, a three-dimensional Image can be obtained, and an Image coordinate system image_ coordinates of each operation surface is formed, and the obtained three-dimensional Image is an initial Image of the target area 4 as shown in fig. 2. In an alternative embodiment, the initial image may also be a two-dimensional image set, and the two-dimensional image in the two-dimensional image set may be obtained directly by the ultrasound probe or obtained for a three-dimensional image slice.

Referring to fig. 2, which shows an oval area that is the outline of the tissue to be resected in the target area 4, the vapor needle 22 is inserted in the y-axis direction, guided by the sheath 3 or the like, and rotatably oscillated in a cross section perpendicular thereto about the y-axis, and after the vapor needle 22 is inserted into the front end of the sheath 3 or the like, the vapor needle 22 is bent and the needle head portion protrudes from the vapor needle outlet 220. The plane defined by the two axes yz is defined as a sagittal plane, the plane defined by the two axes xz is defined as a cross section perpendicular to the sagittal plane, and the plane defined by the two axes xy is defined as a horizontal plane. It should be appreciated that the outline of the target area 4 is generally irregularly shaped, and here for convenience of explanation, the outline of the target area 4 is simplified to be elliptical, with the xy plane as the horizontal plane, the z-axis direction as the up-down direction, and the insertion direction of the vapor needle 22, i.e., the direction toward the target area 4 along the y-axis, as the front, and vice versa. The following description will be the same as the description of the direction unless otherwise specified.

After the initial image of the target area 4 is acquired, the number of needle points is determined based on the initial image. The size of the target area 4 can be estimated based on the image information, and the number of needle points can be determined according to the size of the target area 4. As a preferred way, a general treatment plan of the target area 4 is obtained in advance according to a large number of experiments, for example, a treatment plan template of 4-10 points is set according to the size of the target area 4, so as to meet the treatment requirements of the target areas 4 with different sizes.

Further, preset parameters of each needle outlet point position are determined. After the number of the needle points is determined, corresponding preset parameters are determined for each needle outlet point.

A library of prefabricated treatment plan templates is generated from a plurality of experimentally obtained generic treatment plans for the target region 4 in advance. For example, a4, 6 or 8 needle treatment regimen template is set according to the size of the prostatic hyperplasia, which substantially meets the treatment requirements of each size of prostate; taking a 4-needle scheme as an example, referring to fig. 3-5, fig. 3 is a schematic diagram of needle-out points in a horizontal plane image. Fig. 4 is a schematic view of the needle point out in the sagittal image. Fig. 5 is a schematic view of the needle exit point in the cross-sectional image. The treatment scheme template comprises the number of needle outlet points and preset parameters of each needle outlet point, wherein the preset parameters of each needle outlet point comprise an action center position and an ablation radius, the action center position is defined by a needle outlet position parameter (Z), a needle outlet angle parameter (theta), a needle outlet depth parameter (D) and the ablation radius is defined by an action range parameter (R); the meaning understanding about the needle-out position parameter Z, the needle-out depth parameter D, the range of action parameter R is shown in fig. 11, and the meaning understanding about the needle-out angle parameter θ is shown in the descriptions of fig. 3 to 5; wherein the needle-out position parameter Z represents the distance of linear movement of the vapor needle 22 along the sheath 3 defining the axial direction, the needle-out angle parameter θ represents the angle of rotational movement of the vapor needle 22 in the cross-sectional direction, the needle-out depth parameter D represents the distance of the needle tip of the vapor needle 22 extending from the vapor needle outlet 220 in a direction substantially transverse to the axial direction, and the range parameter R represents the range of vapor action.

The combination of the needle outlet position parameters (Z), the needle outlet angle parameters (theta), the needle outlet depth parameters (D) and the action range parameters (R) of the needle outlet points form a set of treatment scheme templates. The library of prefabricated treatment plan templates is a collection of multiple sets of treatment plan templates determined from a number of experiments.

In a preferred embodiment for ablation of prostatic hyperplasia tissue, needle points are symmetrically distributed along two sides of the urethral axis, so that a better ablation effect can be achieved. Taking a four-needle scheme as an example, the interval DeltaZ of the needle outlet position parameters Z of two adjacent needles is 1.5cm, the needle outlet depth parameter D is set to be 1.5cm, the needle outlet angle parameter theta is set to be a symmetrical angle, such as 4 and 8-point directions, and the action range parameter is 1cm, and meanwhile, a doctor can manually adjust and modify the 4 parameters and add and delete needle outlet points.

Specifically, referring to the horizontal plane image shown in fig. 3, the four needle-out points are a first point 11, a second point 12, a third point 13, and a fourth point 14, respectively. Each needle outlet point position is provided with an action center position and an ablation radius corresponding to the needle outlet point position. During treatment, the vapor needle 22 is inserted into each point, and the ablation is performed according to the corresponding parameters. Preferably, the four needle outlet points are symmetrically distributed relative to the y-axis in fig. 2, and the positions of the four needle outlet points can be adjusted according to the treatment requirement. The circle surrounding each point is shown to represent the corresponding ablation range of the vapor needle 22 at the exit point. Specifically, the vapor needle 22 is provided with vapor injection holes in the circumferential direction, and vapor is injected from each injection hole during ablation to form an ablation region having a substantially spherical shape surrounding the center of action of the vapor needle 22. Here, the radius of the circle in fig. 3 is taken as an ablation radius R corresponding to the needle outlet point, and the ablation radius R is actually the area radius of the action range formed by the vapor sprayed outwards along the needle hole of the vapor needle 22.

On the sagittal plane image shown in fig. 4, the first and second spots 11, 12 are arranged in front of and behind each other, and triangles in the figure represent the first and second sheath outlets 110, 120 as the vapor needle outlets 220, respectively. Taking the primary sheath outlet 110 as an example, when the steam needle 22 needs to be inserted into the primary site 11, the steam needle 22 moves linearly along the axial direction of the sheath 3 to the position of the primary sheath outlet 110, if necessary, the rotation angle of the steam needle 22 and the steam needle outlet 220 are determined, and the steam needle is adjusted as will be described in detail below. The needle tip of vapor needle 22 is then controlled to extend from vapor needle outlet 220 and be inserted into first point 11. Similarly, when it is desired to insert into the second site 12, the vapor needle 22 is advanced to the position of the second sheath outlet 120 along the defined axial linear motion of the sheath 3, and then the tip of the vapor needle 22 is controlled to extend from the vapor needle outlet 220 and insert into the second site 12. The third point location 13 and the fourth point location 14 are also distributed back and forth in the sagittal plane direction, and the meaning of the needle outlet point location parameter is similar to that, and the repeated description is omitted.

In this embodiment, the portion of the needle tip of the vapor needle 22 protruding from the vapor needle outlet 220 at the front end of the sheath 3 is bendable, i.e. the vapor needle tip is inserted into the first spot 11 in a manner substantially transverse to said axial direction, the size of the portion of the needle tip of the vapor needle 22 protruding from the sheath 3 being the needle exit length L, the needle exit length L being related to a needle exit depth parameter D, typically the needle exit length L representing the lateral distance from the needle tip to the vapor needle outlet 220, the needle exit depth parameter D representing the lateral distance from the needle hole center of action in the vicinity of the needle tip to the vapor needle outlet 220, the relationship between D and L being determined for the same vapor ablation needle, whereby D or L can be used as parameters characterizing the lateral needle tip extension movement of the vapor needle. The rectangular box surrounding each point in the figure corresponds to a projection illustration of the ablation scope on the sagittal plane.

On the cross-sectional image shown in fig. 5, a vertical line OC shown by a broken line is parallel to the Z-axis, and a triangle at the O-point corresponds to the primary sheath outlet 110. The first point 11 and the third point 13 are located on both sides of the perpendicular OC, respectively, and are disposed at a predetermined angle with respect to the perpendicular OC, which is the angle θ of the rotary vapor needle 22 with the axis of the sheath tube 3 as the central axis. The steam needle 22 is inserted to the position of the primary sheath outlet 110 along with the sheath 3, rotates towards one side of the primary point 11, and the needle head extends out of the steam needle outlet 220 to be inserted into the primary point 11; further, the third point 13 may be inserted by rotating the vapor needle toward one side of the third point 13 and extending the needle tip from the vapor needle outlet 220.

The principle of inserting the rotary vapor needle 22 into the second point position 12 and the fourth point position 14 is similar to that of the rotary vapor needle 22, the rotary vapor needle 22 moves to the position of the second sheath outlet 120 along the limiting axial direction of the sheath 3, the rotary vapor needle rotates towards one side of the second point position 12, and the needle head extends out of the vapor needle outlet 220 and can be inserted into the second point position 12; further, the vapor needle is rotated toward one side of the fourth point 14, and then the needle head extends from the vapor needle outlet 220 to be inserted into the fourth point 14, so that the description thereof will not be repeated.

As can be seen from the foregoing, each needle-out point of the vapor needle 22 has at least four key parameters, i.e., a needle-out position Z, a needle-out depth D, a needle-out length L, an action range R, and a needle-out angle θ, which can be preset in a treatment plan template, for realizing the ablation operation on different sites. In the treatment scheme template library, the contained treatment scheme templates comprise the number of needle outlet points and corresponding preset parameters, and the total ablation volume of each treatment scheme template can be estimated based on the number of the needle outlet points and the corresponding preset parameters, and the treatment scheme templates can be classified so as to be convenient to store and call.

As previously described, and with reference to fig. 3-5, for two-dimensional images of different directions, a suitable treatment plan template may be selected from a library of treatment plan templates to match based on the profile information of the target region 4 in the initial image.

Further, in connection with fig. 3, the contour of the target area 4 in the horizontal plane image may be segmented by a manual or image algorithm, and the doctor may adjust the needle-out position Z and the ablation radius R of a given template based on the contour of the target area 4. Further, with reference to fig. 4, the contour of the target area 4 in the sagittal image may be segmented by a manual or image algorithm, and the doctor may adjust the needle-out position Z, the needle-out depth D or the needle-out length L, the scope R of a given template based on the contour of the target area 4. Further, in connection with fig. 5, by manually or image algorithm segmenting the outline of the target region 4 in the cross-sectional image, the doctor can adjust the needle-out depth D or the needle-out length L, the action range R, and the needle-out angle θ of a given template based on the outline of the target region 4.

Preferably, planning selection or scheme adjustment can be performed through combination of sagittal plane images and cross-sectional images, or combination of horizontal plane images and cross-sectional images, or combination of sagittal plane images, cross-sectional images and horizontal plane images, so as to enhance planning scientificity, template selection can be performed in the three-dimensional images after three-dimensional reconstruction, manual adjustment confirmation is performed on parameters such as the number of treatment points of a given template, namely the number of needle outlet points, the needle outlet position Z, the needle outlet angle theta, the needle outlet length L, the needle outlet depth D, the action range R and the like, and the parameters are preset corresponding to the needle outlet points after adjustment is completed, so that an image planning track of a treatment plan can be generated.

Further, not only based on the preoperative image, in the preferred embodiment, the grade of the target prostatic hyperplasia can be comprehensively obtained according to the age, the prostatic volume, the IPSS scoring table and the like of the patient, for example, the grade can be mild, moderate and severe, a treatment plan and a schematic diagram are generated according to the grade, and the schematic diagram comprises the outline schematic information, the treatment point information and the like of the target area 4. As an example, if it is determined that the proliferation level is mild, 4 treatment points are generated, 6 treatment points are generated in moderate, 8 treatment points are generated in severe, the angle θ of the needle is recognized to be the angle corresponding to the directions of 4 o 'clock and 8 o' clock symmetrically distributed with respect to the perpendicular OC on the cross section, the needle-out length L is 8mm in the default mild, the ablation radius is 1.5cm, the needle-out length L is 10mm in the moderate, the ablation radius is 1.8cm, the needle-out length L is 15mm in the severe, and the ablation radius (or action range) is 2cm. The generated schematic diagram can be a sagittal plane image or other tangent plane images, and taking a sagittal plane as an example, the generated target outline on the tangent plane is schematic, the light is an ellipse with a long axis of 3cm and a short axis of 1cm, the medium is an ellipse with a long axis of 3.6cm and a short axis of 2cm, and the heavy is an ellipse with a long axis of 4cm and a short axis of 3 cm. The above parameters are merely examples, and may be adjusted according to the need, and are not particularly limited.

Next, the vapor needle image registration step of step S2 will be specifically described with reference to fig. 6. Fig. 6 is a schematic illustration of a virtual needle 21 and vapor needle 22 in a sagittal image.

Referring to fig. 6, a virtual needle 21 is generated, resulting in its corresponding virtual needle image, which is superimposed in the initial image. After the vapor needle 22 is inserted into the target area 4, a real-time image of the target area 4 and a vapor needle image corresponding to the vapor needle 22 are acquired, and in this embodiment, the real-time image is an ultrasound image. After the vapor needle is inserted into the target region 4, the real-time image of the target region 4 includes both the real-time image information of the target region 4 and the real-time image information of the vapor needle 22.

Taking a sagittal ultrasound image as an example, assuming that the furthest point in the insertion direction of the vapor needle 22, i.e., the foremost point in the sagittal image, is the execution origin of the vapor needle 22, the spatial position coordinates of the start point and the end point of the virtual needle 21 on the image can be fitted according to the coordinates of the treatment point. The position of the virtual needle 21 in the image can be solved by an optimization algorithm such as a genetic algorithm or the like.

Preferably, the virtual needle 21 is horizontally inserted into the target area 4 along the Y-axis direction from the rear side of the direction shown in the image, and the range of the ablation of the treatment point which can be generated by the virtual needle 21 and the planned ablation range of the treatment point which is adjusted by the doctor are maximized, a range threshold value can be preset in the actual operation process, and when the intersection range of the two ranges exceeds the range threshold value, the virtual needle 21 can be considered to meet the requirement. For example, the ablation range of each treatment point is approximately spherical, and when fitting the virtual needle 21, the intersection range of the sphere of the ablation range of 4 treatment points which can be generated by the virtual needle 21 and the sphere of the planned ablation range of 4 treatment points which is adjusted by the doctor is set to be larger than the range threshold. In other words, the virtual needle 21 used in the present application is a virtual needle in which the range of the ablation of the treatment point which can be generated by the virtual needle and the planned ablation range of the treatment point which is adjusted by the doctor intersect at the maximum. In the scheme of setting the range threshold as a reference for fitting the virtual needle, the intersection area of the virtual ablation range of the virtual needle and the planned ablation range is as maximum as possible.

Taking the target area 4 as a prostate as an example, when a real-time image is acquired, the sheath tube 3 containing the vapor needle 22 can be observed through an endoscope and inserted into the bladder neck position, the positions of the sheath tube shaft and the ultrasonic shaft are adjusted to be in the same plane and parallel as far as possible, the position of the vapor needle outlet 220 is made to be vertical downwards as an initial position, and the alignment of the Z axis of the spatial physical coordinate system where the sheath tube 3 is positioned and the transverse cross section center line OC is realized, so that the real-time ultrasonic sagittal plane image containing the vapor needle 22 can be acquired. Control accuracy can be further improved by first adjusting the vapor needle to a position substantially parallel to the sagittal plane.

The vapor needle 22 is inserted at an angle as small as possible to the sagittal Y-axis, i.e., less than a predetermined angle threshold. When the included angle is zero, the vapor needle 22 is completely coincident with the sagittal plane, but in actual operation, an included angle is inevitably formed between the two. Viewed on a real-time image, the vapor needle 22 is relatively highlighted near the region of intersection with the sagittal plane, as the two overlap more; the weaker the brightness of the vapor needle 22 toward both ends, the smaller the overlap, so the magnitude of the angle between the vapor needle 22 and the sagittal plane can be observed and adjusted according to the gradient setting in the real-time image, which gradually darkens toward both ends of the vapor needle image with the highlight region of the vapor needle image as the center. If the highlighting area in the Y-axis direction is longer, it means that the area of the vapor needle 22 overlapping the sagittal plane is more, and the included angle between the vapor needle and the Y-axis is relatively smaller; conversely, fewer regions of vapor needle 22 overlapping the sagittal plane are indicated, even with only one highlight, indicating a relatively large angle with the Y-axis. In this way, the vapor needle can be conveniently adjusted to a position substantially parallel to the sagittal plane.

The image registration step is performed in the event that the vapor needle 22 is at an angle to the sagittal plane Y-axis that is less than a preset angle threshold.

In one embodiment, after the acquisition of a real-time image of the prostate, the target area 4 is segmented by a manual or image algorithm, in registration with the initial image as described previously. For example, the real-time image and the initial image are registered, the mutual registration angle and scaling scale of the two images can be adjusted, so that the outlines of the prostates in the two images are basically aligned, a first transformation matrix T1 of the pixel distance between the initial image coordinate system and the real-time image coordinate system is obtained, namely, the pixel distance in the initial image after the registration is completed can be transformed to the pixel distance of the real-time image in operation, and then the distance in the physical world corresponding to the pixel distance in the initial image can be obtained through a second transformation matrix T2 between the pre-obtained real-time image coordinate system and the physical space coordinate system.

After the contours of the prostate in these two images are aligned, there is an inevitable deviation between the vapor needle 22 and the virtual needle 21, and the position and/or posture of the vapor needle 22 in the urethra as a real object needs to be adjusted so that the vapor needle image in the real-time image coincides with the virtual needle image in the initial image, i.e. registration of the vapor needle 22 and the virtual needle 21 is achieved.

After the registration is completed, further, a step S3, namely a parameter determining step, is executed, and a mapping relation between the moving distance of the vapor needle image in the real-time image and the moving distance of the virtual needle image in the initial image is established; and converting the preset parameters of the needle outlet point positions into the execution parameters of the vapor needles at least based on the mapping relation.

Firstly, establishing a mapping relation between the moving distance of the vapor needle image in the real-time image and the moving distance of the virtual needle image in the initial image. As one embodiment, the two are moved in the same direction by the same pixel distance in the real-time image and the initial image, and the scaling factor g is obtained from the positional deviation of the two.

Taking the target area 4 as a prostate as an example, after registering the vapor needle 22 and the virtual needle 21, the vapor needle 22 and the vapor needle outlet of the insertion end of the virtual needle 21 are both positioned at the positions corresponding to the first point 11, the vapor needle 22 is moved forward to the vicinity of the bladder neck or into the bladder by assuming that the Y-axis coordinate thereof is W1, the vapor needle outlet image 220' of the insertion end of the vapor needle 22 is marked on the real-time image, and the pixel distance at which the vapor needle 22 is moved on the real-time image is d1=w1-W0 by assuming that the Y-axis coordinate thereof is W0. Then, the virtual needle 21 is controlled by software to move forward by the same distance d1 in the initial image, whether the vapor needle 22 and the virtual needle 21 are overlapped or not is observed, if the vapor needle 22 and the virtual needle 21 are overlapped, the alignment is considered to be completed, if the deviation is larger, for example, larger than a certain threshold value, the vapor outlet position W0 'of the insertion end of the virtual needle 21 in the initial image needs to be marked again, and the scaling factor g= (W1-W0)/(W1-W0') of the distance is obtained. The scaling factor g is taken into account when the physical position of the subsequent vapor needle 22 is moved. After this step, the vapor needle outlet image 220' of the vapor needle 22 remains in the bladder neck position.

Then, based on at least the above-mentioned mapping relation, i.e. the scaling factor g, the above-mentioned preset parameters including the needle-out position Z, the needle-out angle θ, the needle-out length L or the needle-out depth D, and the action range R are converted into the execution parameters of the physical space of the vapor needle 22, so as to control the vapor needle 22 to execute the ablation operation.

The spatial physical coordinate system in which the actuator including the vapor needle 22 is located is set as an X 'Y' Z 'coordinate system, wherein the X' axis, the Y 'axis, and the Z' axis are parallel to the X axis, the Y axis, and the Z axis, respectively. The needle-out position w_base is taken as the straight line physical position of the vapor needle 22 in the sheath tube 3, the execution rotation angle θ_base is the rotation angle of the vapor needle 22 in the sheath tube 3, the execution needle-out length l_base is the physical distance of the vapor needle 22 extending from the opening of the sheath tube 3, and the execution ablation radius r_base is the action range after vapor ejection. The actuator controls various movements of the vapor needle according to the execution parameters under the spatial physical coordinate system X ' Y ' Z ' coordinate system thereof.

Referring to fig. 6, the Y-axis coordinate corresponding to the first point location 11 is W1. On the initial sagittal image, the end position W3 of the virtual needle 21 at the bladder neck of the urethral orifice is taken as the origin, and at this time, the pixel distance W1-W3 is the distance travelled by the virtual needle 21 moving to the position W1, that is, the linear physical position w_base=t2|w1-w3|g of the virtual needle 21 in the sheath tube 3 corresponding to the first treatment point 11, and g is the scaling factor.

Fig. 7 is a schematic view of the rotation angle that can be seen in the cross-sectional image. Referring to fig. 7, the ultrasonic stepper moves to the W1 and W2 positions, effecting registration at each cross section. Through the known calibration relationship, the vapor outlet is automatically/manually marked on the cross-sectional image, at this time θ1 is the preset rotation angle of the vapor needle 22 corresponding to the first needle outlet point 11, and the actual execution rotation angle is θ_base=θ1. The execution needle outlet length l_base=t2×l×gl of the needle outlet point position, the execution ablation radius r_base=t2×r×gr, wherein L, R is a preset needle outlet length and a preset action range, gL is a coefficient of the execution needle outlet length, a numerator thereof is a pixel distance after the needle outlet length is executed in the planning image, and a denominator is a pixel distance for adjusting the needle outlet length in the planning image. gR is an ablation radius coefficient, a numerator is a pixel distance of an ablation radius in a planning image, and a denominator is a pixel distance after the ablation radius is adjusted in the planning image.

The application also proposes a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, implements a method according to any of the embodiments of the application.

In order to implement the method according to the previous embodiment of the present application, the present application also proposes an execution parameter determining device for a vapor needle, characterized by comprising the following modules: the needle outlet point position presetting module is used for acquiring an initial image of the target area 4, determining the number of needle outlet points based on the initial image, and determining preset parameters of each needle outlet point position, wherein the preset parameters of each needle outlet point position comprise an action center position and an ablation radius; the vapor needle image registration module is used for acquiring a virtual needle image of the vapor needle and superposing and displaying the virtual needle image in the initial image; acquiring a real-time image of the target area 4, wherein the real-time image contains image information of the vapor needle positioned in the target area 4; registering the real-time image with the initial image; the parameter determining module is used for establishing a mapping relation between the moving distance of the vapor needle image in the real-time image and the moving distance of the virtual needle image in the initial image; and converting the preset parameters of the needle outlet point positions into the execution parameters of the vapor needles at least based on the mapping relation. The above modules are functional architecture modules, which can be implemented by computer software.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Furthermore, the application also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of being run by the processor, wherein the processor executes the computer program to realize the method according to any embodiment of the application. In one typical configuration, the electronic device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

The storage device is used as a computer readable storage medium for storing a software program, a computer executable program and module units, such as program instructions corresponding to the method in the embodiment of the application. The storage device may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the terminal, etc. Further, the storage means may comprise high speed random access memory, and may also comprise non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage device may further include memory located remotely from the processor 620, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

In summary, the steam ablation system provided by the application can ensure that the tissue is supplemented with water in the operation process by directly heating the target area 4 by using the high-temperature steam as a heat source, and the situation of dehydration and carbonization can not occur, and the temperature of the steam can be accurately controlled by the method and/or the device for determining the execution parameters of the steam needle. Furthermore, the method and the device provided by the application do not use complex navigation mechanisms such as the magneto-optical navigation multi-axis mechanical arm and the like and the calibration process, the use cost of equipment is reduced by a treatment scheme template type rapid calibration method, the preoperative planning and the intraoperative treatment execution action are rapidly calibrated, the whole process is completed by means of a doctor holding the instrument in the operation, and the whole operation process is faster, portable and flexible. In addition, by means of rapid calibration before or during operation on the image planning module, the method can also realize visual auxiliary operation, so that after a doctor inserts a steam needle, the ablation operation on each treatment point in the subsequent operation flow can be automatically executed, meanwhile, the accurate control of the needle outlet position parameter, the needle outlet angle parameter, the needle outlet depth parameter and the action range parameter can be realized, the treatment accuracy is improved, and meanwhile, the operation time of the doctor for adjusting the position, the angle and the like is greatly shortened, so that the steam ablation operation is safe and controllable.

It should be understood that the foregoing embodiments are only for illustrating the present application, the protection scope of the present application is not limited thereto, and any person skilled in the art, within the scope of the present application, shall be able to make modifications, substitutions and combinations according to the technical solution of the present application and the application concept thereof.

Claims

1. A method for determining an execution parameter for a vapor needle, comprising the steps of:

S1: determining the preset number of the needle outlet points and the preset parameters of each needle outlet point, acquiring an initial image of a target area, determining the number of the needle outlet points based on the initial image, and determining the preset parameters of each needle outlet point, wherein the preset parameters of each needle outlet point comprise an action center position parameter and an ablation radius; the initial image is a preoperative image corresponding to the target area;

s2: a vapor needle image registration step, namely obtaining a virtual needle image of the vapor needle, and superposing and displaying the virtual needle image in the initial image; acquiring a real-time image of the target area, wherein the real-time image comprises a vapor needle image corresponding to the vapor in the target area; registering the real-time image with the initial image; wherein the virtual needle image is generated for fitting;

S3: determining an execution parameter of a vapor needle, namely establishing a mapping relation between the moving distance of the vapor needle image in the real-time image and the moving distance of the virtual needle image in the initial image; converting preset parameters of the needle outlet point positions into execution parameters of physical space of the steam needle at least based on the mapping relation; the vapor needle can be inserted into the needle outlet point position along the axis limiting direction according to the execution parameters.

2. The execution parameter determination method for a vapor needle according to claim 1, characterized in that:

the action center position parameters determined in the step of determining the preset parameters of the needle outlet points comprise: the steam needle is provided with a preset needle outlet position, a preset needle outlet angle and a preset needle outlet length; the ablation radius is a preset vapor action range.

3. The execution parameter determination method for a vapor needle according to claim 2, characterized in that:

The preset needle outlet position is the position of the needle outlet point in the shaft limiting direction, the preset needle outlet length is the length of the needle head of the steam needle extending transversely to the shaft, and the preset needle outlet angle is the included angle between the needle outlet direction of the steam needle and the shaft limiting direction.

4. The execution parameter determination method for a vapor needle according to claim 1, characterized in that:

In the vapor needle image registration step, a virtual ablation range corresponding to the virtual needle image, and an intersection area of a planned ablation range corresponding to the preset parameter is larger than a preset range threshold.

5. The execution parameter determination method for a vapor needle according to claim 2, characterized in that:

the real-time image is a sagittal image of the target region;

And executing the vapor needle image registration step under the condition that the included angle between the vapor needle and the sagittal plane is smaller than a preset angle threshold.

6. The execution parameter determination method for a vapor needle according to claim 5, characterized in that:

And observing and adjusting the included angle between the vapor needle and the sagittal plane according to gradient setting of gradually darkening towards two ends of the vapor needle image by taking a highlight area of the vapor needle image as a center in the real-time image.

7. An execution parameter determination device for a vapor needle, characterized by comprising the following modules:

The system comprises a determining module for obtaining an initial image of a target area, determining the number of needle points based on the initial image, and determining the preset parameters of each needle point, wherein the preset parameters of each needle point comprise an action center position parameter and an ablation radius; the initial image is a preoperative image corresponding to the target area;

The vapor needle image registration module is used for acquiring a virtual needle image of the vapor needle and superposing and displaying the virtual needle image in the initial image; acquiring a real-time image of the target area, wherein the real-time image comprises a vapor needle image corresponding to the vapor in the target area; registering the real-time image with the initial image; wherein the virtual needle image is generated for fitting;

The vapor needle execution parameter determining module is used for establishing a mapping relation between the moving distance of the vapor needle image in the real-time image and the moving distance of the virtual needle image in the initial image; converting preset parameters of the needle outlet point positions into execution parameters of physical space of the steam needle at least based on the mapping relation; the vapor needle can be inserted into the needle outlet point position along the axis limiting direction according to the execution parameters.

8. The execution parameter determination device for a vapor needle according to claim 7, wherein:

The action center position parameters determined in the determining module of the preset parameters of the needle outlet points comprise: the steam needle is provided with a preset needle outlet position, a preset needle outlet angle and a preset needle outlet length; the ablation radius is a preset vapor action range.

9. The execution parameter determination device for a vapor needle according to claim 8, wherein:

10. The execution parameter determination device for a vapor needle according to claim 8, wherein:

establishing the mapping relationship via the vapor needle execution parameter determination module includes:

And when the vapor needle image and the virtual needle image move in the same direction in the real-time image and the initial image by the same pixel distance, obtaining a scaling factor according to the position deviation of the two images.

11. The execution parameter determination device for a vapor needle according to claim 10, wherein:

The execution parameters of the vapor needle comprise: executing a needle outlet position, executing a rotation angle, executing a needle outlet length and executing an ablation radius, wherein the execution rotation angle is determined based on the preset needle outlet angle, and the executing the needle outlet position, the executing the needle outlet length and the executing the ablation radius are determined based on the preset needle outlet position, the preset needle outlet length, the ablation radius and the scaling factor respectively.

12. The execution parameter determination device for a vapor needle according to claim 7, wherein:

when the vapor needle image registration module is used for image registration, the real-time image is registered with the initial image, and then the vapor needle image in the real-time image is registered with the virtual needle image in the initial image.

13. The execution parameter determination device for a vapor needle according to claim 7, wherein:

When the vapor needle image registration module is used for image registration, the virtual ablation range corresponding to the virtual needle image and the intersection area of the planned ablation range corresponding to the preset parameter are larger than a preset range threshold.

14. The execution parameter determination device for a vapor needle according to claim 8, wherein:

the real-time image is a sagittal image of the target region;

And under the condition that the included angle between the vapor needle and the sagittal plane is smaller than a preset angle threshold, performing image registration through the vapor needle image registration module.

15. The execution parameter determination device for a vapor needle according to claim 14, wherein:

16. A vapor ablation system, comprising:

An imaging unit for providing a real-time image of the target area;

A steam needle slidably disposed within the sheath, capable of being inserted into a predetermined lumen along with the sheath, and extending from an insertion end of the sheath to the target area;

A control unit for determining the execution parameters of the vapor needle according to the execution parameter determination method for vapor needle of any one of claims 1 to 6 or determining the execution parameters of the vapor needle via the execution parameter determination device for vapor needle of any one of claims 7 to 15, controlling the vapor needle to execute an ablation operation.