Actuation system
An actuation system is disclosed for actuating an ablation instrument for an ablation process in a tissue volume. In at least one embodiment, the actuation system includes: an input interface for image data of the tissue volume; an identification unit for identifying a target tissue using the image data; a model production unit for producing process models and/or refined fine process models of expected ablation developments, which is linked to a value derivation unit for deriving model measured values from a process model and/or to a value determination unit for determining measured values representing the ablation progress; a command derivation unit for deriving control commands on the basis of process models and/or for deriving refined control commands on the basis of fine process models; a comparator for comparing measured values and an instrument interface for transmitting control commands and/or refined control commands to the ablation instrument. In at least one embodiment, the invention also relates to an actuation method.
1. An actuation system for an ablation instrument for an ablation process in a tissue volume, comprising:
an input interface configured to receive image data of the tissue volume;
a processor configured to implement:
an identification unit configured to identify a target tissue of a patient using the image data;
a model production unit configured to produce an initial process model of expected ablation developments in the target tissue, the model production unit being linked to a value derivation unit configured to derive model measured values from the initial process model;
a command derivation unit configured to derive initial control commands on the basis of the produced initial process model; and
a value determination unit configured to determine measured values representing ablation progress after using the initial control commands;
an instrument interface configured to transmit the initial control commands to the ablation instrument; and
a comparator configured to compare the measured values with the model measured values,
the model production unit being further configured to produce a refined process model of expected ablation developments in the target tissue as a volume of the target tissue chancres due to implementation of a previous process model based on a comparison of the measured values representing the ablation progress in the target tissue with the previous process model, the model production unit being further configured to plan further ablation of the target tissue on the basis of the produced refined process model,
the command derivation unit further configured to derive refined control commands on the basis of the produced refined process models, and
the instrument interface configured to transmit refined control commands to the ablation instrument.
2. The actuation system as claimed in claim 1 , further comprising a differentiator, configured to, in the image data, distinguish between at least two of the following tissue volumes: ablation volume, non-ablation volume, volume at risk, and vessel volume.
3. The actuation system as claimed in claim 1 , wherein the is further configured to implement a remaining area determination unit, configured to determine a remaining area of the target tissue which remains after performing an ablation on the basis of the initial control commands.
4. The actuation system as claimed in claim 1 , further comprising a definition data input interface configured to accept definition data relating to tissue volumes.
5. The actuation system as claimed in claim 1 , wherein the processor is further configured to implement an ablation instrument selection unit configured to select from the image data a possible ablation instrument, taking the target tissue into account.
6. The actuation system as claimed in claim 1 , wherein the processor is further configured to implement a registration unit configured to register a plurality of successively determined image data to each other.
7. The actuation system as claimed in claim 1 , further comprising:
a characteristics input interface configured to accept characteristics of ablation instruments; wherein
the processor is further configured to implement a characteristics processing unit configured to supply the model production unit with model ablation parameter values derived from characteristics of an ablation instrument.
8. The actuation system as claimed in claim 1 , further comprising a visualization output interface configured to transfer visualization data to a visualization medium, the visualization medium configured to visualize at least one of the initial process model and the refined process model together with the target tissue.
9. The actuation system as claimed in claim 1 , further comprising a navigation interface configured to at least one of acquire and transmit coordinates at least one of from and to a navigation system.
10. The actuation system as claimed in claim 1 , wherein the value determination unit is further configured to determine measured values representing the ablation process after the refined control commands.
11. The actuation system as claimed in claim 1 , wherein the actuation system is further configured to actuate the ablation instrument fully automatically.