Granted Patent B2

US 12,527,630 · App. 16/879,732 · Granted Jan 20, 2026

Inventors: Longfei Cong (Beijing, CN); Yanhui Zhang (Beijing, CN); Maodong Sang (Beijing, CN)

Assignees: Shenzhen Mindray Bio-Medical Electronics Co., Ltd; Beijing Shen Mindray Medical Electronics Technology Research Institute Co., Ltd.

A61B34/20A61B5/0035A61B5/055A61B5/062A61B6/032A61B6/5247A61B8/0841A61B8/463A61B8/466A61B8/481A61B8/485A61B34/25G06T19/003A61B2034/2063G06T2210/41

Abstract

Claims (92)

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:

obtaining 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

obtaining 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.

15 . The method of claim 9 , 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.

16 . The method of claim 10 , wherein the method further comprises 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.

17 . The method of claim 9 , wherein determining the planned ablation path according to the fusion image comprises:

importing a pre-stored planned ablation path into the fusion image;

obtaining an input for changing the imported pre-stored planned ablation path based on a changed fusion image when a position of the ultrasound probe changes; and

obtaining the planned ablation path according to the input.

18 . An ultrasound system, comprising:

an ultrasound probe;

an ablation device fixed on the 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 storing 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;

displays the real-time ultrasound image data on the display screen;

obtains three-dimensional model data of the target tissue to obtain a view data of the target tissue;

obtains an ablation path of the ablation device determined based on a fusion image that is obtained according to a mapping relationship between the three-dimensional model data and the real-time ultrasound image data, wherein the mapping relationship is obtained by registering the real-time ultrasound image data and the three-dimensional model data according to the spatial orientation information;

obtains a pre-stored planned ablation path;

displays the pre-stored planned ablation path and the obtained ablation path on a real-time ultrasound image rendered based on the real-time ultrasound image data and the view data; and

calculates and quantifies an overlapping relationship between a predicted ablation area, of the pre-stored planned ablation path, covering the view data of the target tissue and an actual ablation area, of the ablation path, covering the view data of the target tissue; and

outputs the quantified overlapping relationship.

19 . The method of claim 9 , further comprising obtaining a detection signal through an object positioning device attached to a surface of the examined object and correcting the spatial orientation information of the positioning device according to the detection signal.

20 . The system of claim 1 , wherein the processor further calculates a number of predicted ablation areas capable of covering the view data of the target tissue to determine a minimum number of ablation needles.

Assignments (2)

Continuity (2)

References Cited (38)