CN114288013A - Control method and device for radiofrequency ablation and radiofrequency ablation assembly - Google Patents

Abstract

The invention provides a control method, device and radio frequency ablation component for radio frequency ablation. A radio frequency ablation catheter used in radio frequency ablation includes a catheter body and an annular catheter segment connected to one end of the catheter body, and the annular catheter segment is provided with a force sensor and a radio frequency electrode, the control method includes: acquiring the real-time contact force detected by the force sensor; the real-time contact force refers to the contact force between the annular catheter segment and the airway wall; based on the real-time contact force , adjust the radius of the annular catheter segment; trigger the radiofrequency ablation of the radiofrequency electrode after the adjustment is completed.

Description

Radiofrequency ablation control method, device and radiofrequency ablation component

technical field

The present invention relates to the medical field, in particular to a control method, a device and a radio frequency ablation component for radio frequency ablation.

Background technique

In the radiofrequency ablation catheter, an annular catheter segment may be provided, and the annular catheter segment is provided with an ablation electrode, and further external ablation may be realized by using the ablation electrode on the radiofrequency ablation catheter. This type of radiofrequency ablation catheter can be applied in various scenarios, for example, in targeted lung denervation (targeted lung denervation, TLD), this type of radiofrequency ablation catheter is often used.

In the existing related art, after the annular catheter segment enters the human body, the operator generally manually adjusts the size of the annular catheter according to the observation under the bronchoscope. However, the operator's manual operation is difficult to ensure that the ablation electrode of the annular catheter segment can fully adhere to the physiological inner wall, which is not conducive to sufficient and effective ablation.

SUMMARY OF THE INVENTION

The present invention provides a radio frequency ablation control method, a device and a radio frequency ablation component, so as to solve the problem that it is difficult to ensure that the ablation electrode of the annular catheter segment can fully fit with the physiological inner wall.

According to a first aspect of the present invention, a method for controlling radiofrequency ablation is provided, wherein a radiofrequency ablation catheter used for radiofrequency ablation includes a catheter body and an annular catheter segment connected to one end of the catheter body, and the annular catheter segment is provided with Force sensors and RF electrodes,

The control method includes:

obtaining the real-time contact force detected by the force sensor; the real-time contact force is the contact force between the annular catheter segment and the airway wall;

adjusting the radius of the annular conduit segment based on the real-time contact force;

Radiofrequency ablation of the radiofrequency electrode is triggered after the adjustment is completed.

Optionally, the adjusting the radius of the annular conduit segment based on the real-time contact force includes:

If the real-time contact force is less than a preset target threshold, increasing the radius of the annular conduit segment;

When the real-time contact force is not less than the target threshold, it is determined that the adjustment has been completed.

Optionally, increasing the radius of the annular conduit segment includes:

determining the difference between the real-time contact force and the target threshold;

based on the difference, determining an adjustment step size;

Based on the adjustment step, the radius is adjusted larger.

Optionally, based on the difference, determining an adjustment step, including:

Based on the corresponding relationship between the interval range and the adjustment step size, the adjustment step size corresponding to the interval range to which the difference value belongs is determined. In the corresponding relationship, the larger the value of the interval range, the larger the corresponding adjustment step size. .

Optionally, the adjusting the radius of the annular conduit segment based on the real-time contact force further includes:

If the real-time contact force is greater than an upper threshold, the radius of the annular conduit segment is reduced; the upper threshold is greater than the target threshold;

Before determining that the adjustment has been completed, the method further includes determining that the real-time contact force is less than the upper threshold. Optionally, before acquiring the real-time contact force detected by the force sensor, the method further includes:

It is determined that the annular catheter segment has reached a target location within the target subject.

According to a second aspect of the present invention, a radio frequency ablation assembly is provided, comprising a radio frequency ablation catheter, a data processing part, a radio frequency control part and a manipulation part; the radio frequency ablation catheter comprises a catheter body, a ring-shaped ring connected to one end of the catheter body A catheter segment, the annular catheter segment is provided with a force sensor and a radio frequency electrode;

the manipulation portion is configured to be capable of adjusting the radius of the annular conduit segment under the control of the data processing portion;

The radio frequency control part is directly or indirectly electrically connected to the radio frequency electrode, and can output radio frequency energy to the radio frequency electrode under the control of the data processing part;

The data processing unit is configured to execute the radio frequency ablation control method related to the first aspect and its optional solution.

Optionally, the force sensor is detachably nested outside the annular conduit section away from the center.

Optionally, the annular catheter segment is provided with a communication hole, and the specified medium circulating in the radiofrequency ablation catheter can be sent out through the communication hole.

Optionally, the radio frequency ablation assembly further includes a bronchoscope with a working channel, and the catheter body is penetrated through the working channel.

According to a third aspect of the present invention, a control device for radiofrequency ablation is provided, wherein the radiofrequency ablation catheter used in the radiofrequency ablation includes a catheter body and an annular catheter segment connected to one end of the catheter body, and the annular catheter segment is provided with Force sensors and RF electrodes,

The control device includes:

an acquisition module for acquiring the real-time contact force detected by the force sensor; the real-time contact force is the contact force between the annular catheter segment and the airway wall;

an adjustment module for adjusting the radius of the annular conduit segment based on the real-time contact force;

An ablation triggering module, configured to trigger radiofrequency ablation of the radiofrequency electrode after the adjustment is completed.

According to a fourth aspect of the present invention, there is provided an electronic device including a processor and a memory,

the memory for storing code;

The processor is configured to execute the code in the memory to implement the control method of the first aspect and its optional solutions.

According to a fifth aspect of the present invention, there is provided a storage medium on which a computer program is stored, and when the program is executed by a processor, implements the control method of the first aspect and its optional solutions.

In the radio frequency ablation control method, device and radio frequency ablation assembly provided by the present invention, before the radio frequency ablation, the real-time contact force between the annular catheter segment and the airway wall is detected, and the real-time contact force can reflect the annular catheter segment The degree of fit with the airway wall, and the adjustment of the radius of the annular catheter segment based on this can help to achieve the degree of fit required for radiofrequency ablation, and further, the radiofrequency electrode can facilitate when the degree of fit meets the requirements. Perform radiofrequency ablation.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a radio frequency ablation assembly in an exemplary embodiment of the present invention;

2 is a schematic structural diagram of a radio frequency ablation assembly in another exemplary embodiment of the present invention;

3 is a schematic flowchart of a control method for radiofrequency ablation in an exemplary embodiment of the present invention;

4 is a schematic flowchart of a control method for radiofrequency ablation in another exemplary embodiment of the present invention;

FIG. 5 is a schematic flowchart of a control method for radiofrequency ablation in another exemplary embodiment of the present invention; FIG. 6 is a schematic flowchart of adjusting the radius of an annular catheter segment in an exemplary embodiment of the present invention;

7 is a schematic flow chart of increasing the radius of the annular conduit segment in an exemplary embodiment of the present invention;

FIG. 8 is a schematic flowchart of adjusting the radius of the annular conduit segment in another exemplary embodiment of the present invention;

9 is a schematic diagram of a program module of a control device for radiofrequency ablation in an exemplary embodiment of the present invention;

10 is a schematic diagram of a program module of a control device for radiofrequency ablation in another exemplary embodiment of the present invention;

FIG. 11 is a schematic structural diagram of an electronic device in an exemplary embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The terms "first", "second", "third", "fourth", etc. (if present) in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to Describe a particular order or sequence. It is to be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

The technical solutions of the present invention will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

Referring to FIG. 1 , an embodiment of the present invention provides a radio frequency ablation assembly, including a radio frequency ablation catheter 110 , a data processing unit 140 , a radio frequency control unit 150 and a manipulation unit 160 .

The radiofrequency ablation catheter 110 includes a catheter body 111, an annular catheter segment 112 connected to one end of the catheter body 111, the annular catheter segment 112 and the inner cavity of the catheter body 111 may be in communication, and the annular catheter segment 112 and the catheter body 111 may be It is one piece, or it can be assembled together.

The manipulation portion 160 is configured to be able to communicate with the data processing portion 140 to adjust the radius of the annular conduit segment under the control of the data processing portion 140; wherein the manipulation portion 160 may be wired and/or wireless Communication with the data processing unit 140 .

For example, the control portion 160 can be connected to the annular catheter segment 112 through a pulling wire, and further, through the movement of the pulling wire, the annular catheter segment 112 can be deformed to change its radius. The 160 may be configured to generate motion (eg, linear motion, arc motion, and rotational motion) under the control of the data processing unit 140 to drive the traction wire to complete the telescopic motion. In order to facilitate transmission, the catheter body 111 may be provided with a pulling hole for the pulling wire to pass through.

The annular catheter section 112 may be provided with a radio frequency electrode 130; the shape, material, location, distribution, etc. of the radio frequency motor 130 may be arbitrarily changed according to the intensity required for radio frequency ablation.

The radio frequency control part 150 is directly or indirectly electrically connected to the radio frequency electrodes 130 to output radio frequency energy to the radio frequency electrodes. For example, each radio frequency electrode 130 can be connected to the radio frequency control part 150 in series. The electrodes 130 may also be connected in parallel.

The radio frequency control part 150 is configured to be able to communicate with the data processing part 140 to output radio frequency energy to the radio frequency electrodes under the control of the data processing part; specifically, the data processing part 140 can control whether the radio frequency control part 150 To output the radio frequency energy, in some examples, the radio frequency control unit 150 can also control the electrical parameters (such as power, voltage, current, etc.) of the radio frequency energy.

The radio frequency control unit 150 may include, for example, a radio frequency generating unit, a power supply unit, and a switching unit. The output side of the radio frequency generating unit may be directly or indirectly connected to a radio frequency motor. Further, the radio frequency generating unit may generate radio frequency energy based on the power provided by the power supply unit, and switch The unit can be connected between the radio frequency generating unit and the power supply unit, or between the radio frequency generating unit and the radio frequency electrode, and further, the switch unit can realize on-off changes under the control of the data processing unit, and further, when the radio frequency generating unit is turned on, the radio frequency generating unit The radio frequency energy can be output to the radio frequency electrode, and when disconnected, the radio frequency electrode stops acquiring the radio frequency energy.

The annular conduit section 112 may be provided with a force sensor 120;

The force sensor 120 can be used to detect the magnitude of the contact force between the force sensor 120 and the object in contact (for example, the tracheal wall), and the force sensor 120 is also configured to be able to communicate with the data processing unit, so as to feed back the measured signal to the data processing unit 140 .

In one embodiment, since the trachea wall is arranged on the radially outer side of the annular catheter segment 112, the force sensor 120 can be arranged at the outer side away from the center of the annular catheter segment, so as to realize effective detection of real-time contact force .

In one embodiment, the force sensor 120 is removably nested on the outer side of the annular conduit segment away from the center. Furthermore, the force sensors 120 can be taken out when they are not needed, and different numbers and distribution of the force sensors 120 can also be selected according to different requirements.

The data processing unit 140 may be any component or combination of components with data processing capability, which may be used to execute the control method for radiofrequency ablation according to the embodiment of the present invention.

Please refer to FIG. 2 , wherein the radiofrequency ablation catheter 210 , the catheter body 211 , and the annular catheter segment 212 are the same or similar to the radiofrequency ablation catheter 110 , the catheter body 111 , the annular catheter segment 112 , and the radiofrequency electrode 240 in the embodiment shown in FIG. 1 . Or similar to the radio frequency electrode 130 in the embodiment shown in FIG. 1 , the force sensor 250 is the same or similar to the force sensor 120 in the embodiment shown in FIG. 1 , and the same or similar content will not be repeated here.

In the embodiment shown in FIG. 2 , the radiofrequency ablation assembly further includes a bronchoscope 230 having a working channel, and the catheter body 211 is passed through the working channel.

In addition, in one of the embodiments, the annular catheter section 212 is provided with a communication hole (not shown), and a designated medium (eg, normal saline) circulating in the radiofrequency ablation catheter can be sent out through the communication hole.

In a specific example, the communication hole can be provided at the radio frequency electrode, which can be used to release physiological saline, adjust impedance and perform cooling. For the detachable force sensor, a corresponding hole can also be reserved. Through the hole, the force sensor 250 can be nested in the radiofrequency ablation catheter 210 and then contact with the airway wall 220 to measure the corresponding contact force. The sensor is electrically connected to the data processing unit, and the signal detected by the force sensor can be transmitted to the data processing unit at the tail to calculate the current contact force.

An example based on the above radiofrequency ablation catheter 210 can be applied to TLD surgery (ie, targeted lung denervation technology).

In TLD surgery, a radiofrequency ablation catheter 210 can be introduced into the lungs through the working channel of the bronchoscope 230 . The bronchoscope allows the doctor to see the inside of the patient's airway and use the radiofrequency ablation catheter 210 to deliver a charge of radiofrequency energy to the nerves outside the airway, blocking the transmission of parasympathetic nerve signals in the lungs and reducing the release of acetylcholine, producing a similar anticholinergic It can reduce the tension of airway smooth muscle and the production of airway mucus, thereby reducing the airway obstruction in the whole lung and achieving the effect of treating COPD. After the radiofrequency ablation is completed, the radiofrequency ablation catheter 210 and the bronchoscope 230 can be removed.

During the treatment process, the radiofrequency ablation catheter 210 can be dilated into a circle shape near the main airway, closely fit with the airway wall, and then the radiofrequency operation is performed.

In some working processes, the radius of the main airway can be calculated according to the patient's preoperative CT data, and then the radiofrequency ablation catheter 210 can be selected. In the case of the control method of radiofrequency ablation, the doctor needs to manually adjust the circle (ie, change the radius of the annular catheter segment 212), which is a time-consuming and labor-intensive process, while observing under the bronchoscope to ensure that the radiofrequency ablation catheter 210 and The airway wall of the main airway fits, and after adjustment, the follow-up procedure is performed, and the catheter position is required to be maintained all the time, so as not to slip and cause incomplete fit.

It can be seen that in this method, even if the doctor's operation ability is exquisite, it will still bring defects such as complicated operation and long operation time. At the same time, the ablation result depends on the operation ability of the doctor, and it is difficult to ensure the safety between the tracheal wall and the annular catheter segment 212. Effective, adequate fit.

To solve the above problems, please refer to FIG. 3 , an embodiment of the present invention provides a control method for radiofrequency ablation, including:

S301: Obtain the real-time contact force detected by the force sensor;

The real-time contact force is the contact force between the annular conduit segment and the airway wall; specifically, the number of force sensors may be one or multiple, and if the number of force sensors is multiple, then: step The real-time contact force acquired in S301 may be a statistical value of the contact force detected by each force sensor (for example, at least one of an average value, a median value, a total value, etc.);

S302: Based on the real-time contact force, adjust the radius of the annular conduit segment;

S303: Trigger the radiofrequency ablation of the radiofrequency electrode after the adjustment is completed.

The triggering of radiofrequency ablation may refer to: before the triggering, the radiofrequency electrode does not acquire radiofrequency energy (or does not acquire sufficient intensity of radiofrequency energy), and after the triggering, the radiofrequency electrode acquires radiofrequency energy (or acquires sufficient intensity of radiofrequency energy). radio frequency energy).

In the above scheme, before the radiofrequency ablation, the real-time contact force between the annular catheter segment and the airway wall is detected, and the real-time contact force can reflect the degree of fit between the annular catheter segment and the airway wall. Based on this The adjustment of the radius of the annular catheter segment can help to achieve the degree of fit required for radiofrequency ablation, and further, the radiofrequency electrode can facilitate radiofrequency ablation when the degree of fit meets the requirements.

Referring to FIG. 4 , step S402 is the same or similar to step S301 in the embodiment shown in FIG. 3 , step S403 is the same or similar to step S302 in the embodiment shown in FIG. 3 , and step S404 is the same or similar to that shown in FIG. 3 . Step S303 in the exemplary embodiment, the same or similar content is not repeated here.

In one of the embodiments, please refer to FIG. 4, before step S402, it may further include:

S401: Determine that the annular catheter segment has reached a target position within a target object.

The target object may refer to the human body that needs to undergo radiofrequency ablation;

The target position may refer to a position in the target object that needs to undergo radiofrequency ablation; specifically, it may refer to a position in the airway that needs to undergo radiofrequency ablation.

Specifically, in step S401, the position of the radiofrequency ablation catheter in the target object can be located first to obtain the current position, and then it is automatically determined whether the current position reaches the target position; wherein the radiofrequency ablation catheter can be set in the bronchoscope, and then along with the bronchoscope Entering the human body, therefore, the current position can be determined by positioning the bronchoscope and/or the radiofrequency ablation catheter.

In one example, the positioning can be performed based on the images acquired by the bronchoscope, for example, the intraoperative images acquired by the bronchoscope can be compared with the virtual slice map of the virtual model of the target object (for example, the virtual bronchial tree of the target object). For registration, in the virtual slice map of the virtual model, determine the target image that matches the intraoperative image, and then characterize the position of the bronchoscope in the target object based on the position of the target image in the virtual model, and use this position as the current position;

In another example, positioning can also be performed based on other sensors (such as magnetic sensors, optical fiber sensors, etc.) provided in the bronchoscope or radiofrequency ablation catheter. For example, the shape of the optical fiber sensor can be correlated with the virtual model of the target object (such as the target object The shape of the virtual bronchial tree) is registered, in the virtual model, the target model part that matches the shape of the fiber optic sensor is determined, and then the position of the bronchoscope in the target object is characterized based on the position of the target model part in the virtual model, and use this as the current position.

Any other positioning methods other than the above examples can be used as an optional solution of step S401. In some embodiments, it is also possible to manually judge whether the radiofrequency ablation catheter has reached the target position according to the manipulation experience, and further, after manually judging that the target position has been reached, the information can be fed back to the data processing section through the human-computer interaction component that interacts with the data processing section. , thereby determining that the annular catheter segment has reached the target position within the target object.

Please refer to FIG. 5 , wherein step S502 is the same or similar to step S301 in the embodiment shown in FIG. 3 , step S503 is the same or similar to step S302 in the embodiment shown in FIG. 3 , and step S504 is the same or similar to that shown in FIG. 3 Step S303 in the exemplary embodiment, the same or similar content is not repeated here.

In one embodiment, please refer to FIG. 5, before step S502, it may further include:

S501: Increase the radius of the annular conduit section from zero by a specified length.

The specified length may be any pre-specified length, and the specified length must at least be designed to be smaller than the radius of the airway wall in the target object.

In the processing based on step S501, after the radio frequency ablation catheter is sent into the corresponding position of the human body, the annular catheter segment can be controlled to increase the specified length first, and then start to adjust the radius based on the real-time contact force. The closed-loop control of detection and adjustment avoids the delay caused by the signal response, signal transmission and signal processing of detection and adjustment, which can help to improve the adjustment speed of the radius.

In one embodiment, please refer to FIG. 6 , based on the real-time contact force, the process of adjusting the radius of the annular conduit segment may include:

S601: Whether the real-time contact force is less than a preset target threshold;

If so, that is, when the real-time contact force is less than the preset target threshold, step S602 may be implemented: increasing the radius of the annular conduit segment;

If no, that is, when the real-time contact force is not less than the preset target threshold, step S603 may be implemented: determining that the adjustment has been completed;

While performing step S603, the adjustment of the radius of the annular conduit segment may be stopped.

Among them, the contact force fed back by the force sensor can reflect the degree of fit between the catheter and the main airway wall. By setting the target threshold (equivalent to the target contact force), when the current contact force is less than the target threshold, the control unit controls the radiofrequency ablation The catheter is expanded, thereby adjusting the radius of the annular channel segment until the contact force meets the set target threshold before subsequent radiofrequency ablation is performed.

In one embodiment, referring to FIG. 7 , the process of increasing the radius of the annular conduit segment includes:

S701: Determine the difference between the real-time contact force and the target threshold;

S702: Based on the difference, determine an adjustment step size;

S703: Based on the adjustment step, increase the radius.

The adjustment step size, when increasing the radius, can be achieved by increasing the radius one or more times, wherein the amount of adjustment (or other information that can characterize the amount of adjustment) when the radius is increased each time is understandable It is the adjustment step size when increasing the radius. Correspondingly, when the radius is reduced, it can also be achieved by reducing the radius one or more times, wherein the amount of reduction (or other information that can characterize the amount of reduction) when the radius is reduced each time can be reduced. It is understood as the adjustment step size when reducing the radius. In a specific example, it may be determined whether the real-time contact force is smaller than a preset target threshold after each time the radius is increased.

The relationship between the difference value and the adjustment step size in step S702 may be, for example: the larger the difference value, the larger the adjustment step size. In an example, the above relationship between the difference value and the adjustment step size may be linear or quadratic. In another example, the process of step S702 may be, for example: based on the corresponding relationship between the interval range and the adjustment step length, determine the adjustment step size corresponding to the interval range to which the difference value belongs. In the corresponding relationship, the The larger the value of the interval range, the larger the corresponding step size.

Furthermore, when the gap between the real-time contact force and the target threshold is large, it can be adjusted with a larger adjustment step, and when the gap between the real-time contact force and the target threshold is small, it can be adjusted with a smaller adjustment step, so as to effectively take into account the adjustment. Efficiency and Adjustment Accuracy.

In the embodiment shown in FIG. 8 , step S801 is the same or similar to step S601 shown in FIG. 6 , step S802 is the same or similar to step S602 shown in FIG. 6 , and step S803 is the same or similar to step S603 shown in FIG. 6 , and the same or similar content will not be repeated here.

In one embodiment, please refer to FIG. 8 , based on the real-time contact force, adjusting the radius of the annular conduit segment, further comprising:

If the judgment result of step S801 is no, step S804 can be executed: whether the real-time contact force is greater than the upper limit threshold;

If the judgment result of step S804 is yes, step S805 can be executed: reduce the radius of the annular conduit segment; then return to step S801;

If the judgment result of step S804 is no, step S803 can be executed.

In an example of step S805, an adjustment step may be specified to reduce the radius of the annular conduit segment.

Wherein, the upper limit threshold is greater than the target threshold. In addition, the specified adjustment step can be designed to be smaller than the difference between the upper limit threshold and the target threshold, and further, it can be avoided that the radius is adjusted to be smaller than the target threshold at one time in the process of reducing, and further, the specified adjustment step can be smaller than the adjustment. Minimum adjustment step size at the stated radius.

Through the above mechanism of reducing the radius, damage or other adverse effects on the airway wall due to excessive adjustment of the radius can be avoided.

Referring to FIG. 9 , an embodiment of the present invention further provides a control device 900 for radiofrequency ablation, including:

an acquisition module 901, configured to acquire the real-time contact force detected by the force sensor; the real-time contact force is the contact force between the annular catheter segment and the airway wall;

an adjustment module 902, configured to adjust the radius of the annular conduit segment based on the real-time contact force;

The ablation triggering module 903 is configured to trigger the radiofrequency ablation of the radiofrequency electrode after the adjustment is completed.

Optionally, the adjustment module 602 is specifically used for:

If the real-time contact force is less than a preset target threshold, increasing the radius of the annular conduit segment;

When the real-time contact force is not less than the target threshold, it is determined that the adjustment has been completed.

Optionally, the adjustment module is specifically used for:

If the real-time contact force is less than a preset target threshold, increasing the radius of the annular conduit segment;

When the real-time contact force is not less than the target threshold, it is determined that the adjustment has been completed.

Optionally, the adjustment module is specifically used for:

determining the difference between the real-time contact force and the target threshold;

based on the difference, determining an adjustment step size;

Based on the adjustment step, the radius is adjusted larger.

Optionally, the adjustment module is specifically used for:

Based on the corresponding relationship between the interval range and the adjustment step size, the adjustment step size corresponding to the interval range to which the difference value belongs is determined. In the corresponding relationship, the larger the value of the interval range, the larger the corresponding adjustment step size. .

Optionally, the adjustment module is also used for:

If the real-time contact force is greater than an upper threshold, the radius of the annular conduit segment is reduced; the upper threshold is greater than the target threshold;

Before determining that the adjustment has been completed, it is determined that the real-time contact force is less than the upper threshold.

Please refer to FIG. 10 , the acquisition module 1002 is the same or similar to the acquisition module 901 in the embodiment shown in FIG. 9 , the adjustment module 1003 is the same or similar to the adjustment module 902 in the embodiment shown in FIG. 9 , and the ablation trigger module 1004 is the same or similar to the ablation triggering module in the embodiment shown in FIG. 9 , and the same or similar content will not be repeated here. Please refer to FIG. 10 , a control device 1000 for radiofrequency ablation, further comprising:

The in-position determination module 1001 is used to determine that the annular catheter segment has reached the target position in the target object.

Referring to FIG. 11, an electronic device 1100 is provided, including:

processor 1101; and,

a memory 1102 for storing executable instructions of the processor;

Wherein, the processor 1101 is configured to execute the above-mentioned method by executing the executable instructions.

The processor 1101 can communicate with the memory 1102 via the bus 1103 .

Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method is implemented.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by program instructions related to hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (13)

1. A control method for radio frequency ablation, wherein a radio frequency ablation catheter used for radio frequency ablation comprises a catheter body and an annular catheter section connected to one end of the catheter body, the annular catheter section is provided with a force sensor and a radio frequency electrode, and the control method comprises the following steps:

acquiring real-time contact force detected by the force sensor; the real-time contact force is the contact force between the annular conduit section and the airway wall;

adjusting the radius of the annular conduit section based on the real-time contact force;

triggering the radiofrequency electrode radiofrequency ablation after the adjustment is completed.

2. The control method according to claim 1,

said adjusting a radius of said looped conduit segment based on said real-time contact force, comprising:

if the real-time contact force is smaller than a preset target threshold value, the radius of the annular pipe section is increased;

determining that the adjustment is complete when the real-time contact force is not less than the target threshold.

3. The control method according to claim 2,

said enlarging of the radius of said annular duct section comprises:

determining a difference between the real-time contact force and the target threshold;

determining an adjustment step size based on the difference;

and increasing the radius based on the adjusting step length.

4. The control method according to claim 3,

determining an adjustment step size based on the difference, comprising:

and determining the adjusting step length corresponding to the interval range to which the difference belongs based on the corresponding relation between the interval range and the adjusting step length, wherein in the corresponding relation, the larger the numerical value of the interval range is, the larger the corresponding increasing step length is.

5. The control method according to claim 2,

said adjusting a radius of said looped conduit segment based on said real-time contact force, further comprising:

if the real-time contact force is larger than the upper limit threshold value, the radius of the annular conduit section is reduced; the upper threshold is greater than the target threshold;

before determining that the adjustment is complete, further comprising: determining that the real-time contact force is less than the upper threshold.

6. The control method according to any one of claims 1 to 5,

before the obtaining of the real-time contact force detected by the force sensor, the method further includes:

determining that the looped catheter segment has reached a target location within a body of a target subject.

7. A radio frequency ablation assembly is characterized by comprising a radio frequency ablation catheter, a data processing part, a radio frequency control part and a control part; the radiofrequency ablation catheter comprises a catheter body and an annular catheter section connected to one end of the catheter body, wherein the annular catheter section is provided with a force sensor and a radiofrequency electrode;

the manipulation section is configured to be capable of adjusting the radius of the annular tube section under the control of the data processing section;

the radio frequency control part is directly or indirectly electrically connected with the radio frequency electrode and can output radio frequency energy to the radio frequency electrode under the control of the data processing part;

the data processing part is used for executing the control method of the radio frequency ablation according to any one of claims 1 to 6.

8. A radio frequency ablation assembly according to claim 7, wherein the force sensor is removably nested outside of the annular catheter segment away from the center.

9. The radiofrequency ablation assembly of claim 7, wherein the annular catheter segment is provided with a communication aperture through which a desired medium circulated within the radiofrequency ablation catheter can be delivered.

10. The radio frequency ablation assembly of claim 7, further comprising a bronchoscope having a working channel through which the catheter body is disposed.

11. A control device for radio frequency ablation, wherein a radio frequency ablation catheter used for radio frequency ablation comprises a catheter body and an annular catheter section connected to one end of the catheter body, the annular catheter section is provided with a force sensor and a radio frequency electrode, and the control device comprises:

the acquisition module is used for acquiring the real-time contact force detected by the force sensor; the real-time contact force is the contact force between the annular conduit section and the airway wall;

an adjustment module for adjusting the radius of the looped conduit segment based on the real-time contact force;

and the ablation triggering module is used for triggering the radio-frequency electrode to perform radio-frequency ablation after the adjustment is completed.

12. An electronic device, comprising a processor and a memory,

the memory is used for storing codes;

the processor is configured to execute the codes in the memory to implement the control method of any one of claims 1 to 6.

13. A storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of any one of claims 1 to 6.

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