Ultrasound system and method for planning ablation

Patent metadata

Field	Value
Publication number	US-12527630-B2
Application number	US-202016879732-A
Country	US
Kind code	B2
Filing date	May 20, 2020
Priority date	Nov 21, 2017
Publication date	Jan 20, 2026
Grant date	Jan 20, 2026

Abstract

An system and method for planning ablation are provided. The method includes: obtaining a real-time ultrasound image of an examined object containing a target tissue through an ultrasound probe; obtaining a spatial orientation information of a positioning device fixed on the ultrasound probe; obtaining a three-dimensional model data of the target tissue; registering the three-dimensional model data with the real-time ultrasound image data according to the spatial orientation information to obtain a mapping relationship between the three-dimensional model data and the real-time ultrasound image data; displaying the real-time ultrasound images and a view data obtained according to the three-dimensional model data registered with the real-time ultrasound image in a fusion manner according to the mapping relationship to obtain a fusion image; and determining a planned ablation path according to the fusion image.

First claim

The invention claimed is:

1 . An ultrasound system for planning ablation, comprising:
an ultrasound probe; a transmitting circuit which excites the ultrasound probe to transmit an ultrasound beam to an examined object containing a target tissue; a receiving circuit which receives echoes of the ultrasound beam to obtain an ultrasound echo signal; a navigation system comprising a positioning device fixed on the ultrasound probe; a display screen; a memory which stores a computer program; and a processor which, when executing the computer program: obtains real-time ultrasound image data of the examined object according to the ultrasound echo signal; obtains spatial orientation information of the positioning device through the navigation system; obtains three-dimensional model data of the target tissue; registers the three-dimensional model data with the real-time ultrasound image data according to the spatial orientation information to obtain a mapping relationship between the three-dimensional model data and the real-time ultrasound image data; displays, on the display screen, the real-time ultrasound image data and a view data of the target tissue obtained according to the three-dimensional model data registered with the real-time ultrasound image data in a fusion manner according to the mapping relationship to obtain a fusion image; determines a planned ablation path according to the fusion image, wherein the planned ablation path comprises a first predicted ablation area covering the view data of the target tissue; obtains a pre-stored second predicted ablation area, covering the view data of the target tissue, which is obtained when performing an ablation planning previously; marks the first predicted ablation area and the second predicted ablation area in the fusion image; obtains and marks a difference between the first predicted ablation area and the second predicted ablation area, to compare the planned ablation path and a previous planned ablation path corresponding to the pre-stored second predicted ablation area; and displays the planned ablation path on the fusion image of the real-time ultrasound image data and the view data.

2 . The system of claim 1 , wherein the processor further displays an ablation device mark on the display screen.

3 . The system of claim 2 , wherein the processor further displays a probe icon representing the ultrasound probe on the display screen, wherein a display position of the probe icon changes with a change of the spatial orientation information.

4 . The system of claim 1 , wherein the planned ablation path further comprises at least one of an ablation guide direction or an ablation path depth.

5 . The system of claim 1 , wherein the processor determines the planned ablation path according to the fusion image by:
displaying an ablation device mark at a first position in the fusion image according to a relative position of an ablation device with respect to the ultrasound probe; obtaining an adjustment instruction to the ablation device mark; changing the first position of the ablation device mark in the fusion image to a second position according to the adjustment instruction; and obtaining the planned ablation path according to the changed ablation device mark.

6 . The system of claim 1 , wherein, before determining the planned ablation path according to the fusion image, the processor further:
obtains an ablation parameter of an ablation device, wherein the ablation parameter comprises at least one of an ablation power, a predicted working time and a number of ablation devices; and obtains the first predicted ablation area according to the ablation parameter, wherein the marked first predicted ablation area changes with a change of a position of an ablation device mark.

7 . The system of claim 1 , wherein displaying the real-time ultrasound image data and the view data of the target tissue comprises at least one of:
displaying a three-dimensional view data and a two-dimensional real-time ultrasound image of the target tissue; displaying a three-dimensional view data and a three-dimensional real-time ultrasound image of the target tissue; or displaying a two-dimensional view data and a real-time ultrasound image of the target tissue.

8 . The system of claim 2 , wherein the processor further performs at least one of:
displaying the first predicted ablation area following the ablation device mark on the fusion image; drawing a probe icon and marking the first predicted ablation area at a corresponding position in the fusion image; or marking an overlapping relationship between the first predicted ablation area and the second predicted ablation area according to the planned ablation path.

9 . An ultrasound imaging method for planning ablation, comprising:
obtaining real-time ultrasound image data of an examined object containing a target tissue through an ultrasound probe; obtaining spatial orientation information of a positioning device fixed on the ultrasound probe; obtaining three-dimensional model data of the target tissue; registering the three-dimensional model data with the real-time ultrasound image data according to the spatial orientation information to obtain a mapping relationship between the three-dimensional model data and the real-time ultrasound image data; displaying the real-time ultrasound image data and a view data of the target tissue obtained according to the three-dimensional model data registered with the real-time ultrasound image data in a fusion manner according to the mapping relationship to obtain a fusion image; determining a planned ablation path according to the fusion image, wherein the planned ablation path comprises a first predicted ablation area covering the view data of the target tissue; obtaining a pre-stored second predicted ablation area, covering the view data of the target tissue, which is obtained when performing an ablation planning previously; marking the first predicted ablation area and the second predicted ablation area in the fusion image; obtains and marks a difference between the first predicted ablation area and the second predicted ablation area, to compare the planned ablation path and a previous planned ablation path corresponding to the pre-stored second predicted ablation area; and displaying the planned ablation path on the fusion image of the real-time ultrasound image data and the view data.

10 . The method of claim 9 , further comprising displaying an ablation device mark.

11 . The method of claim 10 , wherein the method further comprises:
displaying a probe icon representing the ultrasound probe, wherein a display position of the probe icon changes with a change of the spatial orientation information.

12 . The method of claim 9 , wherein the planned ablation path further comprises at least one of an ablation guide direction or an ablation path depth.

13 . The method of claim 9 , wherein determining the planned ablation path according to the fusion image comprises:
displaying an ablation device mark at a first position in the fusion image according to a relative position of an ablation device with respect to the ultrasound probe; obtaining an adjustment instruction to the ablation device mark; changing the first position of the ablation device mark in the fusion image to a second position according to the adjustment instruction; and obtaining the planned ablation path according to the changed ablation device mark.

14 . The method of claim 9 , before determining the planned ablation path according to the fusion image, further comprising:
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Assignees

• Shenzhen Mindray Biomedical Electronics Co Ltd
• Beijing Shen Mindray Medical Electronics Tech Research Institute Co Ltd

Inventors

• Cong Longfei
• Zhang Yanhui
• Sang Maodong

Classifications

• G06T2210/41

  Medical · CPC title

• G06T19/003

  Navigation within 3D models or images · CPC title

• A61B8/485

  involving measuring strain or elastic properties · CPC title

• A61B8/481

  involving the use of contrast agents, e.g. microbubbles introduced into the bloodstream · CPC title

• A61B8/466

  adapted to display 3D data · CPC title