Method for delimiting cryoablation by controlled cooling
Systems and methods for planning a cryoablation procedure and for facilitating a cryoablation procedure utilize integrated images displaying, in a common virtual space, a three-dimensional model of a surgical intervention site based on digitized preparatory images of the site from first imaging modalities, simulation images of cryoprobes used according to an operator-planned cryoablation procedure at the site, and real-time images provided by second imaging modalities during cryoablation. The system supplies recommendations for and evaluations of the planned cryoablation procedure, feedback to an operator during cryoablation, and guidance and control signals for operating a cryosurgery tool during cryoablation. Methods are provided for generating a nearly-uniform cold field among a plurality of cryoprobes, for cryoablating a volume with smooth and well-defined borders, thereby minimizing damage to healthy tissues.
1. A cryoablation method ensuring complete destruction of tissues within a selected target volume while minimizing destruction of tissues outside said selected target volume, comprising:
(a) utilizing cryoprobes to affect cryoablation at a plurality of freezing loci, said loci being of a first type and of a second type, said first type being located adjacent to a surface of said selected target volume and said second type being located at an interior portion of said selected target volume;
(b) cooling cryoprobes deployed at loci of said first type to a first degree of cooling and cooling cryoprobes deployed at loci of said second type- to a second degree of cooling, said first degree of cooling being less cooling than said second degree of cooling, thereby affecting wide areas of destruction around each cryoprobe deployed at loci of said second type and narrow areas of destruction around each cryoprobe deployed at loci of said first type, thereby ensuring complete destruction of tissues within a selected target volume while minimizing destruction of tissues outside said selected target volume; and
(c) utilizing a planner for planning a dense array, said planner utilizing a three-dimensional model of said target volume to calculate, for a given array of freezing loci, a required temperature and length of cooling time for loci of said first type and for loci of said second type, to affect complete destruction of tissues within said selected target volume while minimizing destruction of issues outside said selected target volume.
2. The cryoablation method of claim 1 , wherein cryoprobes deployed to freezing loci of said first type are cooled to a first temperature and cryoprobes deployed to freezing loci of said second type are cooled to a second temperature, said second temperature being lower than said first temperature.
3. The cryoablation method of claim 1 , wherein cryoprobes deployed to freezing loci of said first type are cooled for a first length of time, and cryoprobes deployed to freezing loci of said second type are cooled for a second length of time, said second length of time being longer than said first length of time.
4. The method of claim 1 , further comprising utilizing a user interface useable by an operator to specify said given array of freezing loci.
5. The method of claim 4 , further comprising specifying said given array of freezing loci in context of an image which comprises real-time information provided by an imaging modality.
6. The method of claim 4 , further comprising using an evaluator to evaluate a plurality of said specifications of given arrays of freezing loci by utilizing a predictor to predict future outcomes of each of said plurality of specified freezing loci given arrays.
7. The method of claim 4 , further comprising specifying said given array of freezing loci in context of an image which comprises information derived from a three-dimensional model of an intervention site.
8. The method of claim 7 , wherein said image further comprises information provided by a real-time imaging modality.
9. The method of claim 7 , further comprising presenting to a user an image representing a situation expected to obtain at a future time, said prediction based on information present in said three-dimensional model of said intervention site and further based on said information provided by said user in specifying said freezing loci.
10. The method of claim 9 , wherein said information comprises positioning information and operating parameters of cryoprobes.