Method, device and system for generating intracranial electrode lead track, medium and product

Abstract

The invention discloses an intracranial electrode lead track generation method, device and system, a medium and a product. The method comprises the following steps: acquiring medical image data of the brain of a patient after an electrode lead is implanted into the intracranial of the patient; extracting a feature point set corresponding to the electrode lead from the medical image data; according to trajectory features of the electrode lead in the cranium of the patient, a target feature point set implanted into the cranium of the patient is screened out from the feature point set, and the trajectory features at least represent that the bending degree of the electrode lead in the cranium of the patient does not exceed a preset bending value; and according to the target feature point set, simulating to obtain an intracranial electrode lead track of the patient. According to the method, the intracranial electrode lead wire part can be accurately identified by utilizing the intracranial trend of the electrode lead wire, and accurate three-dimensional visual rendering is performed on the intracranial electrode lead wire through the point corresponding to the intracranial electrode lead wire part, so that a doctor can better understand the position relationship between the intracranial electrode lead wire and the surrounding nerve fiber bundle, and the accuracy and the reliability of the system are improved. Doctors can optimize program control parameters, and the treatment effect is improved.

Description

Technical Field

[0001] The present invention relates to the field of implantable medical technology, and in particular to a method and device for generating a trajectory of an electrode wire implanted into a patient's skull, an implantable medical system, a storage medium and a program product. Background Art

[0002] With the continuous development of modern medical technology, visual programming has been widely used in the field of implantable stimulation therapy. Visual programming uses 3D modeling technology to render the patient's brain nuclei, implanted electrode wires, stimulation range and nerve fibers into a three-dimensional model.

[0003] In the existing technology, only the coordinate positions of certain points on the electrode wire in the image can be extracted, and it is impossible to identify which coordinates are inside the brain and which coordinates are outside the brain. Therefore, it is very difficult to accurately identify the intracranial electrode wire part of the patient, which makes it difficult to accurately render the intracranial electrode wire, thereby failing to achieve a good auxiliary programming effect.

[0004] The present invention solves at least one of the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a method for generating the trajectory of an electrode wire implanted in the skull of a patient, which solves the technical problem that the prior art cannot accurately identify the intracranial electrode wire portion of the patient, which makes accurate rendering of the intracranial electrode wire very difficult. The present application utilizes the direction of the electrode wire in the skull to accurately identify the intracranial electrode wire portion, and uses the points corresponding to the intracranial electrode wire portion to perform accurate three-dimensional visualization rendering of the intracranial electrode wire, so that doctors can better understand the positional relationship between the intracranial electrode wire and the surrounding nerve fiber bundles, thereby helping doctors optimize programming parameters and improve treatment effects.

[0006] The purpose of the present invention is achieved by the following technical solutions:

[0007] A first aspect of the present invention provides a method for generating a trajectory of an electrode wire implanted in a patient's skull, the method comprising:

[0008] Obtain medical imaging data of the patient's brain after the electrode wire is implanted in the patient's brain;

[0009] Extracting a set of feature points corresponding to the electrode wire from the medical imaging data;

[0010] According to the trajectory characteristics of the electrode wire in the patient's skull, a target feature point set implanted in the patient's skull is selected from the feature point set, wherein the trajectory characteristics at least indicate that the bending degree of the electrode wire in the patient's skull does not exceed a preset bending value;

[0011] According to the target feature point set, the electrode wire trajectory in the patient's skull is simulated.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. This application uses medical prior knowledge to accurately screen out the intracranial electrode wire portion by utilizing the fact that the degree of bending of the electrode wire at the cranial foramen is very different from the degree of completeness inside the skull, that is, the direction of the electrode wire is different.

[0014] Second, by extracting the feature point set corresponding to the electrode wire from the medical imaging data; and using the preset bending value to accurately screen out the part of the electrode wire in the patient's skull whose bending degree does not exceed the preset bending value, and simulating the target feature point set corresponding to this part, the electrode wire trajectory in the patient's skull is obtained.

[0015] 3. Based on the relatively accurate electrode wire trajectory, the visual rendering of the intracranial electrode wire model is realized, which plays a good auxiliary programming effect on implantable stimulation medical surgery, improves the accuracy of the relative position between the electrode wire and the stimulated nucleus, and helps doctors adjust the programming parameters to improve the treatment effect. It enables doctors to better understand the positional relationship between the electrode wire and the peripheral nerve fiber bundle, which helps doctors optimize the programming parameters and improve the treatment effect.

[0016] In some possible implementations of the first aspect, based on the trajectory characteristics of the electrode wire in the patient's skull, a target feature point set implanted in the patient's skull is selected from the feature point set, including:

[0017] Starting from the feature point corresponding to the electrode wire implanted deepest in the skull, the bending degree of the electrode wire between any three adjacent feature points among all feature points is calculated in sequence;

[0018] When the bending degree is greater than a preset bending value, a characteristic inflection point of the electrode lead implanted into the patient's skull is determined from characteristic points corresponding to the bending degree;

[0019] Based on the characteristic inflection point, the target characteristic point set is obtained by screening from the characteristic point set.

[0020] In some possible implementations of the first aspect, calculating the bending degree of the electrode wire between any three adjacent feature points among all feature points includes:

[0021] Get the spatial coordinates of any three adjacent feature points respectively;

[0022] According to the spatial coordinates of two groups of two adjacent feature points among the three adjacent feature points, sequentially calculating a first direction vector and a second direction vector between the two groups of two adjacent feature points;

[0023] The dot product of the first direction vector and the second direction vector is calculated, and the dot product is used as the bending degree of the electrode wire between three adjacent feature points.

[0024] In some possible implementations of the first aspect, based on the trajectory characteristics of the electrode wire in the patient's skull, a target feature point set implanted in the patient's skull is selected from the feature point set, including:

[0025] According to the spatial coordinates of each feature point in the feature point set, an initial electrode trajectory of the electrode wire is obtained by fitting;

[0026] Determining the slope range of the electrode track of the electrode lead implanted into the intracranial portion according to the track characteristics of the electrode lead in the patient's skull;

[0027] According to the electrode track slope range and the track slopes at different positions of the initial electrode track, intercepting at least a portion of the initial electrode track to obtain the target electrode track;

[0028] A target feature point set to be implanted into the patient's skull is determined based on the feature points in the target electrode trajectory.

[0029] In some possible implementations of the first aspect, simulating and obtaining the electrode wire trajectory in the patient's skull according to the target feature point set includes:

[0030] According to the spatial coordinates of each feature point in the target feature point set, a curve trajectory equation of the electrode wire in the patient's skull is obtained by fitting;

[0031] The electrode wire trajectory in the patient's skull is determined according to the curve trajectory equation and the brain environment information in the patient's skull.

[0032] In some possible implementations of the first aspect, the method further includes:

[0033] The length of the electrode wire implanted in the patient's skull is calculated based on the curve trajectory equation and by taking the characteristic point corresponding to the electrode wire implanted deepest in the skull and the characteristic inflection point as the endpoint of the electrode implantation.

[0034] In some possible implementations of the first aspect, the medical imaging data at least includes a set of CT images obtained by scanning along at least one computed tomography (CT) scanning direction.

[0035] In some possible implementations of the first aspect, the method for acquiring the spatial coordinates of the feature points includes:

[0036] For each electrode lead and the image identifier corresponding to each electrode lead, obtaining at most one feature point corresponding to the electrode lead in each CT image of the CT image set;

[0037] Based on the voxel coordinates corresponding to each feature point, the space coordinates corresponding to the feature point are determined.

[0038] In some possible implementations of the first aspect, the CT scanning direction includes sagittal and coronal planes.

[0039] A second aspect of the present invention provides a device for generating intracranial electrode wire trajectories, the device comprising:

[0040] Image acquisition module: used to obtain medical imaging data of the patient's brain after the electrode wire is implanted in the patient's brain;

[0041] Feature point extraction module: used to extract a set of feature points corresponding to the electrode wire from the medical image data;

[0042] A target feature point acquisition module: based on the trajectory feature of the electrode wire in the patient's skull, a target feature point set implanted in the patient's skull is selected from the feature point set, wherein the trajectory feature at least indicates that the bending degree of the electrode wire in the patient's skull does not exceed a preset bending value;

[0043] A wire trajectory generation module is used to simulate the electrode wire trajectory in the patient's skull according to the target feature point set.

[0044] A third aspect of the present invention provides an implantable medical system, the implantable medical system comprising:

[0045] A first processor is configured to communicate with a medical acquisition device and execute the above method, wherein the medical acquisition device is used to acquire medical imaging data of a patient;

[0046] The display screen is configured to display the medical imaging data, wherein the medical imaging data at least includes a set of CT images obtained by scanning the patient's brain in at least one computed tomography (CT) scanning direction after the electrode wire is implanted in the patient's skull, and the trajectory of the electrode wire in the patient's skull.

[0047] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a second processor, the steps of the above method are implemented.

[0048] According to a fifth aspect of the present invention, a computer program product is provided. The computer program product comprises instructions, and when the instructions are executed on an electronic device, the electronic device implements the steps of the above method. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a flowchart of the overall steps of the method for generating intracranial electrode wire trajectories provided in an embodiment of the present application;

[0050] Figure 2 is a flowchart of step S3 in an implementation manner provided in an embodiment of the present application;

[0051] Figure 3 is a flowchart of step S31a provided in an embodiment of the present application;

[0052] Figure 4 is a flowchart of the steps of a method for obtaining spatial coordinates provided in an embodiment of the present application;

[0053] Figure 5 is a flowchart of step S3 in another implementation manner provided in an embodiment of the present application;

[0054] Figure 6 is a step flow chart of step S4 provided in an embodiment of the present application;

[0055] Figure 7 It is a structural schematic diagram of a device for generating intracranial electrode wire trajectories provided in an embodiment of the present application;

[0056] Figure 8 It is a schematic diagram of the structure of the implantable medical system provided in the embodiment of the present application. DETAILED DESCRIPTION

[0057] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to make the present invention more comprehensive and complete and to fully convey the concepts of example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their repeated description will be omitted.

[0058] First, one of the application fields of the embodiment of the present application (i.e., an implantable neural stimulation system) is briefly described.

[0059] Implantable medical systems include implantable neural stimulation systems, implantable cardiac stimulation systems (also known as pacemakers), implantable drug delivery systems (IDDS), and lead switching systems. Examples of implantable neural stimulation systems include deep brain stimulation (DBS), implantable cortical nerve stimulation (CNS), implantable spinal cord stimulation (SCS), implantable sacral nerve stimulation (SNS), and implantable vagus nerve stimulation (VNS).

[0060] The implantable neural electrical stimulation system includes a stimulator implanted in the patient's body (i.e., an implantable neural stimulator) and a programmable device disposed outside the patient's body. In other words, the stimulator is a medical device, or in other words, the medical device includes the stimulator. The relevant neural regulation technology mainly implants electrodes (electrodes, for example, in the form of electrode wires) in specific parts of the tissues of the organism (i.e., target points) through stereotactic surgery, and emits discharge pulses to the target points through the electrodes to regulate the electrical activity and function of the corresponding neural structures and networks, thereby improving symptoms and relieving pain.

[0061] As an example, DBS includes an IPG (Implantable Pulse Generator), an extension wire and an electrode wire, and the IPG is connected to the electrode wire via the extension wire. The IPG is implanted in the patient's body, for example, in the patient's chest or other body parts.

[0062] As another example, DBS includes an IPG and an electrode lead, and the IPG is directly connected to the electrode lead. The IPG is implanted in the patient's head, for example, a groove is made in the patient's skull, and then the IPG is installed in the groove of the skull. In this case, the IPG may not protrude from the outer surface of the skull, or may partially protrude from the outer surface of the skull.

[0063] Among them, IPG responds to the sample brain mask information sent by the program-controlled device, relying on sealed batteries and circuits to provide controllable electrical stimulation therapy (or electrical stimulation energy) to the tissues in the body. When the battery is low, the battery needs to be charged, and the method for charging the battery can be to use electromagnetic induction coil wireless charging to charge through human skin or other epidermal tissues. IPG delivers one or more controllable specific electrical stimulations to specific areas of tissues in the body through electrode wires.

[0064] In some embodiments, the extension lead is used in conjunction with the IPG as a transmission medium for electrical stimulation, and transmits the electrical stimulation generated by the IPG to the electrode lead.

[0065] In some embodiments, the electrical stimulation may be delivered in the form of a pulse signal or in the form of a non-pulse signal. For example, the electrical stimulation may be delivered as a signal having various waveform shapes, frequencies, and amplitudes. Thus, the electrical stimulation in the form of a non-pulse signal may be a continuous signal, which may have a sinusoidal waveform or other continuous waveform.

[0066] After receiving the electrical stimulation transmitted by the IPG or the extension wire, the electrode wire delivers the electrical stimulation to a specific area of ​​the tissue in the body through a plurality of electrode contacts. The stimulator is provided with, for example, one or more electrode wires on one side or both sides, and a plurality of electrode contacts are provided on the electrode wire, and the electrode contacts can be arranged uniformly or non-uniformly in the circumferential direction of the electrode wire. As an example, the electrode contacts can be arranged in an array of 4 rows and 3 columns (a total of 12 electrode contacts) in the circumferential direction of the electrode wire. The electrode contacts can include stimulation electrode contacts and / or collection electrode contacts. The electrode contacts can be in the shape of sheets, rings, dots, etc., for example.

[0067] In some embodiments, the stimulated in vivo tissue may be the patient's brain tissue, and the stimulated site may be a specific site of the brain tissue. When the patient's disease type is different, the stimulated site is generally different, and the number of stimulation contacts (single source or multiple sources), the use of one or more (single channel or multiple channels) of specific electrical stimulation, and the stimulation parameters (values) are also different.

[0068] The embodiments of the present application do not limit the types of diseases that can be used, and they can be the types of diseases that deep brain stimulation (DBS), spinal cord stimulation (SCS), sacral nerve stimulation, gastric stimulation, peripheral nerve stimulation, and functional electrical stimulation can be used for. Among them, the types of diseases that DBS can be used to treat or manage include, but are not limited to: spastic diseases (e.g., epilepsy), pain, migraine, mental illness (e.g., major depressive disorder (MDD)), bipolar disorder, anxiety, post-traumatic stress disorder, mild depression, obsessive-compulsive disorder (OCD), behavioral disorders, mood disorders, memory disorders, mental state disorders, movement disorders (e.g., essential tremor or Parkinson's disease), Huntington's disease, Alzheimer's disease, drug addiction, autism or other neurological or psychiatric diseases and injuries.

[0069] In the embodiment of the present application, when the programmable device and the stimulator establish a programmable connection, the programmable device can be used to adjust one or more stimulation parameters of the stimulator (or one or more stimulation parameters of the pulse generator, different stimulation parameters correspond to different electrical stimulations), and the stimulator can also sense the patient's electrophysiological activities to collect electrophysiological signals, and the collected electrophysiological signals can be used to continue to adjust the stimulation parameters of the stimulator, thereby realizing closed-loop control (or adaptive adjustment) of the stimulation parameters.

[0070] The stimulation parameters may include at least one of the following: the electrode contact identification used to deliver electrical stimulation (for example, electrode contact #2 and electrode contact #3), frequency (for example, the number of electrical stimulation pulse signals within a unit time of 1s, in Hz), pulse width (the duration of each pulse, in μs), amplitude (generally expressed in voltage, that is, the intensity of each pulse, in V), timing (for example, it can be continuous or burst, and burst refers to discontinuous timing behavior composed of multiple processes), stimulation mode (including one or more of current mode, voltage mode, timed stimulation mode and cyclic stimulation mode), upper and lower limits controlled by the doctor (the range that can be adjusted by the doctor) and upper and lower limits controlled by the patient (the range that can be adjusted autonomously by the patient).

[0071] In some embodiments, various stimulation parameters of the stimulator can be adjusted in current mode or voltage mode.

[0072] Programmable devices may include doctor programmable devices (i.e. programmable devices used by doctors) and / or patient programmable devices (i.e. programmable devices used by patients). Doctor programmable devices are, for example, tablet computers, laptop computers, desktop computers, mobile phones and other intelligent terminal devices equipped with programmable software. Patient programmable devices are, for example, tablet computers, laptop computers, desktop computers, mobile phones and other intelligent terminal devices equipped with programmable software. Patient programmable devices may also be other electronic devices with programmable functions (e.g., chargers with programmable functions, electrophysiological acquisition devices, etc.).

[0073] The embodiment of the present application does not restrict the data interaction between the doctor's programming device and the stimulator. When the doctor performs remote programming, the doctor's programming device can interact with the stimulator through the server and the patient's programming device. When the doctor performs offline programming with the patient face to face, the doctor's programming device can interact with the stimulator through the patient's programming device, and the doctor's programming device can also interact with the stimulator directly. The doctor sends a programming parameter group to the stimulator through the programming device. The programming parameter group (or the preset programming parameters mentioned below) includes multiple electrode contacts and stimulation parameters corresponding to each electrode contact.

[0074] In some embodiments, the patient programmable device may include a host (communicating with a server) and a slave (communicating with a stimulator), and the host and the slave are communicatively connected. Among them, the doctor programmable device can exchange data with the server through a 3G / 4G / 5G network, the server can exchange data with the host through a 3G / 4G / 5G network, the host can exchange data with the slave through a Bluetooth protocol / WIFI protocol / USB protocol, the slave can exchange data with the stimulator through a 401MHz-406MHz working frequency band / 2.4GHz-2.48GHz working frequency band, and the doctor programmable device can directly exchange data with the stimulator through a 401MHz-406MHz working frequency band / 2.4GHz-2.48GHz working frequency band.

[0075] Combined with Figure 1 As shown, the first aspect of this embodiment provides a method for generating a trajectory of an electrode wire implanted into a patient's skull, comprising the following steps S1 to S4.

[0076] Step S1: Acquire medical imaging data of the patient's brain after the electrode wire is implanted into the patient's brain.

[0077] It should be noted that the medical imaging data is DICOM (Digital Imaging and Communications in Medicine) data. DICOM is an international standard for medical images and related information. It defines a medical image format that can be used for data exchange to meet clinical needs. DICOM data may include hierarchical information corresponding to the medical imaging file and / or identification information of the medical institution. The hierarchical information may include the case number of the subject corresponding to the medical imaging file, the examination site, and the data type of the medical imaging file. Among them, the data type includes, for example, CT (Computed Tomography) imaging data, MR (Magnetic Resonance) imaging data, etc. The identification information of the medical institution may be the name of the medical institution, the geographical location information of the institution, etc.

[0078] In this embodiment, the medical image data at least includes a set of CT images obtained by scanning along at least one computed tomography (CT) scanning direction.

[0079] It should be further explained that the CT scanning directions include sagittal and coronal planes. The sagittal plane refers to the plane after the human brain is divided into two symmetrical left and right parts. This plane is parallel to the sagittal plane. It can also be a section along the long axis of the brain and perpendicular to the horizontal plane. In the sagittal plane, you can clearly see the distribution and morphology of the brain structure in the left and right directions. The coronal plane, also called the frontal plane, refers to the combination of the front and back planes after the brain is cut. It is equivalent to dissecting the brain from the front according to the front situation and cutting it into a section. The coronal plane is a horizontal section, which divides the brain into two parts, front and back, which helps to observe the structure perpendicular to the long axis of the brain.

[0080] In CT scanning, sagittal and coronal scans are commonly used, which provide doctors with the ability to observe the patient's internal structures from different angles, which helps to diagnose and treat more accurately.

[0081] Step S2: extracting a set of feature points corresponding to the electrode wire from the medical imaging data.

[0082] In this embodiment, a coronal scan is performed on the patient's brain, and the obtained CT image set includes multiple CT images from the skull base to the skull top along the coronal direction. In the CT image, since each electrode wire corresponds to an image identifier, the image identifier of the electrode wire is identified by using image recognition technology, and at most one feature point corresponding to the electrode wire in each CT image can be identified, thereby obtaining a feature point set corresponding to the electrode wire.

[0083] Step S3: According to the trajectory characteristics of the electrode wire in the patient's skull, a target feature point set implanted in the patient's skull is selected from the feature point set.

[0084] It should be noted that the trajectory feature at least represents that the bending degree of the electrode wire in the patient's skull does not exceed a preset bending value.

[0085] Here the applicant used prior medical knowledge, because when the patient is undergoing implantable brain stimulation surgery, the electrode wires in the skull are in almost the same direction. In other words, the curvature of the electrode wires in the skull is very small and to a certain extent is close to a straight line. However, at the cranial foramen of the implantation surgery, since the electrode wires are close to the scalp, the electrode wires will bend at the cranial foramen, and the degree of curvature is very large. In other words, there is a large difference in the direction of the electrode wires in the skull and at the cranial foramen.

[0086] For example, the preset bending value is K, then all bending degrees of the intracranial electrode wires are less than or equal to K, and the bending degree of the electrode wires at the cranial foramen is greater than K.

[0087] It can be understood that by comparing the preset bending value with all the bending degrees of the electrode wire, the feature points corresponding to the intracranial electrode wire and the feature points corresponding to the electrode wire at the cranial foramen can be accurately screened out from the feature point set, thereby clarifying the direction of the electrode wire in the intracranial part.

[0088] Thus, the feature points corresponding to the electrode wires whose curvature in the patient's skull does not exceed the preset curvature value, namely the target feature point set, can be screened out from the feature point set of all feature points corresponding to the electrode wires in the CT image set.

[0089] It should be noted that this embodiment takes implantable brain stimulation, namely deep brain stimulation (DBS) as an example, but it does not constitute a limitation on the application scenarios of the present application. The present application can also be applied to other implantable medical stimulation surgeries, such as implantable cortical nerve stimulation (CNS), implantable spinal cord stimulation (SCS), implantable sacral nerve stimulation (SNS), implantable vagus nerve stimulation (VNS), etc.

[0090] In a specific embodiment, in combination with Figure 2 As shown, step S3 includes steps S31a to S33a.

[0091] Step S31a: Starting from the feature point corresponding to the electrode wire implanted deepest in the skull, the degree of curvature of the electrode wire between any three adjacent feature points among all the feature points is calculated in sequence.

[0092] Because any two adjacent feature points can only determine the direction of a line segment, to judge the degree of bending of the electrode wire, it is necessary to observe the change in direction, so it is necessary to introduce another adjacent feature point. Through any three adjacent feature points, two adjacent line segments can be formed and their directions can be compared. In this way, any changes in direction can be captured, which is the key to calculating the degree of bending of the electrode wire.

[0093] Furthermore, the use of three adjacent feature points to judge the degree of bending is local, that is, it only focuses on the bending within a small range of the current three adjacent feature points. This is very comprehensive and effective for detecting turning points, bending points or curve segments on the electrode wire, and can show significant changes in the local direction of the electrode wire.

[0094] In some specific embodiments, in combination with Figure 3As shown, step S31a of calculating the bending degree of the electrode wire between any three adjacent feature points among all feature points includes steps S311 to S313.

[0095] Step S311: respectively obtain the spatial coordinates of any three adjacent feature points.

[0096] In some specific embodiments, in combination with Figure 4 As shown, the method for acquiring the spatial coordinates of the feature points includes steps S3111 and S3112.

[0097] Step S3111: for each electrode lead and the image identifier corresponding to each electrode lead, obtain at most one feature point corresponding to the electrode lead in each CT image of the CT image set.

[0098] Step S3112: Based on the voxel coordinates corresponding to each feature point, determine the spatial coordinates corresponding to the feature point.

[0099] Since each electrode wire has a corresponding image marker in the CT image, the image marker can be used to determine the voxel coordinates corresponding to each feature point. By using spatial matrix transformation, the spatial coordinates corresponding to each feature point can be obtained. This is a prior art and will not be described in detail here.

[0100] Step S312: according to the spatial coordinates of two groups of two adjacent feature points in the three arbitrary adjacent feature points, the first direction vector and the second direction vector between the two groups of two adjacent feature points are calculated in sequence.

[0101] Specifically, any three adjacent feature points may form two adjacent line segments, and by calculating the vectors corresponding to the line segments, a first direction vector F1 and a second direction vector F2 between two groups of two adjacent feature points may be obtained.

[0102] Step S313: Calculate the dot product of the first direction vector and the second direction vector, and use the dot product as the bending degree of the electrode wire between three adjacent feature points.

[0103] If you want to determine the degree of curvature of the electrode wire between three adjacent feature points, you can calculate the angle between two adjacent line segments formed by the three adjacent feature points. The angle can be obtained by dot product, so the degree of curvature of the electrode wire between three adjacent feature points can be more accurately characterized by dot product.

[0104] Step S32a: When the bending degree is greater than the preset bending value, the characteristic inflection point of the electrode wire implanted into the patient's skull is determined from the characteristic points corresponding to the bending degree.

[0105] As mentioned above, at the cranial hole of the implantation surgery, since the electrode wire is close to the scalp, the electrode wire will bend at the cranial hole. When the bending degree of the electrode wire between three adjacent feature points is greater than the preset bending value, that is, the bending degree at the bending point is greater than the preset bending value, this means that among the three adjacent feature points corresponding to the bending degree, the feature point in the middle is the feature inflection point corresponding to the bending point, so the feature inflection point can be accurately calculated from all the feature points.

[0106] Step S33a: Based on the feature inflection point, a target feature point set is obtained by screening from the feature point set.

[0107] Through the feature inflection point, all feature points on the electrode wire are accurately screened and segmented to determine the target feature point set of the electrode wire implanted in the patient's skull. That is to say, the target feature point set includes the feature inflection point, the feature point corresponding to the electrode wire implanted deepest in the skull, and all feature points between the two in the direction from the top of the skull to the base of the skull.

[0108] In another specific embodiment, in combination with Figure 5 As shown, step S3 includes steps S31b to S33b.

[0109] Step S31b: fitting the initial electrode trajectory of the electrode wire according to the spatial coordinates of each feature point in the feature point set.

[0110] Specifically, the initial electrode trajectory of the electrode wire can be obtained by fitting using the moving least squares method. The moving least squares method is a local fitting method, which can perform local fitting around each feature point to obtain a smoother initial electrode trajectory of the electrode wire.

[0111] Step S32b: Determine the slope range of the electrode track of the electrode lead implanted into the intracranial part according to the track characteristics of the electrode lead in the patient's skull.

[0112] As mentioned above, the trajectory feature at least indicates that the bending degree of the electrode wire in the patient's skull does not exceed a preset bending value.

[0113] This implementation also utilizes the above-mentioned medical prior knowledge. It can be understood that because different degrees of bending on the electrode wire correspond to different electrode trajectory slopes, that is, different directions, by comparing the preset bending value with all the bending degrees of the electrode wire, the electrode trajectory slope range of the electrode wire implanted in the intracranial part and the trajectory slope of the electrode wire at the cranial foramen can be screened out, thereby more accurately determining the electrode trajectory slope range of the electrode wire implanted in the intracranial part.

[0114] Step S33b: According to the electrode trajectory slope range and the trajectory slopes at different positions of the initial electrode trajectory, intercept at least a portion of the initial electrode trajectory to obtain a target electrode trajectory.

[0115] By comparing the electrode trajectory slope range with the trajectory slopes at different positions of the initial electrode trajectory, the target electrode trajectory corresponding to the electrode trajectory slope range can be accurately intercepted from the initial electrode trajectory.

[0116] Step S34b: Determine a target feature point set to be implanted into the patient's skull based on the feature points in the target electrode trajectory.

[0117] That is, according to the target electrode trajectory, a target feature point set corresponding to the target electrode trajectory can be screened out from the feature point set, and the electrode wire corresponding to the target feature point set is also the electrode wire implanted into the patient's skull.

[0118] Step S4: According to the target feature point set, the electrode wire trajectory in the patient's skull is simulated.

[0119] Specifically, the electrode wire trajectory in the patient's skull can be obtained by fitting using the moving least squares method. The moving least squares method is a local fitting method that can perform local fitting around each feature point to obtain a smoother electrode wire trajectory in the patient's skull. This can achieve visual rendering of the intracranial electrode wire model, which has a good auxiliary programming effect on implantable stimulation medical surgery.

[0120] In some specific embodiments, in combination with Figure 6 As shown, step S4 includes step S41-step S42.

[0121] Step S41: fitting the curve trajectory equation of the electrode wire in the patient's skull according to the spatial coordinates of each feature point in the target feature point set.

[0122] Step S42: Determine the electrode wire trajectory in the patient's skull based on the curve trajectory equation and the brain environment information in the patient's skull.

[0123] It should be noted that, by using the spatial coordinates of each feature point in the target feature point set to fit the curve trajectory equation of the electrode wire in the patient's skull, the visual rendering of the intracranial electrode wire model can be achieved. When it is applied to implantable stimulation medical surgery, it is necessary to synchronously render the patient's intracranial brain environment information to obtain the patient's brain tissue model. Therefore, the curve trajectory equation and the patient's intracranial brain environment information are used to fuse the intracranial electrode wire model and the brain tissue model in the same spatial coordinate system to ensure their relative positional relationship, thereby obtaining a trajectory model that fuses the electrode wire in the brain tissue, thereby realizing the visual rendering of the electrode wire and brain tissue model in implantable stimulation medicine.

[0124] In some specific embodiments, the method for generating the trajectory of the electrode wire in the patient's brain further includes: calculating the length of the electrode wire implanted in the patient's brain based on the curve trajectory equation and taking the characteristic points and characteristic inflection points corresponding to the electrode wire implanted deepest in the brain as the endpoints of the electrode implantation.

[0125] Specifically, the length of the electrode wire implanted in the patient's skull can be calculated using the integration method. For example, the length of the tangent at the two endpoints and each characteristic point between the two endpoints is calculated using the curve trajectory equation, and then the length of the electrode wire implanted in the patient's skull is obtained by integrating along the range of the two endpoints.

[0126] The above length is the actual length of the electrode wire implanted in the patient's skull. Before performing the implantable stimulation medical surgery, the doctor will pre-plan an estimated length for the electrode wire implanted in the patient's skull. By comparing the actual length obtained with the estimated length, the reliability of the implantable stimulation medical surgery can be verified.

[0127] In a second aspect of this embodiment, a device for generating intracranial electrode wire trajectories is provided, which applies the generation method of the first aspect and combines the attached Figure 7 As shown, the generating device includes an image acquisition module 100 , a feature point extraction module 200 , a target feature point acquisition module 300 and a wire trajectory generating module 400 .

[0128] The image acquisition module 100 is used to acquire medical image data of the patient's brain after the electrode wire is implanted into the patient's brain.

[0129] The feature point extraction module 200 is used to extract a set of feature points corresponding to the electrode wire from the medical image data.

[0130] The target feature point acquisition module 300 is used to filter out a target feature point set implanted into the patient's skull from a feature point set based on the trajectory features of the electrode wire in the patient's skull, wherein the trajectory features at least indicate that the curvature of the electrode wire in the patient's skull does not exceed a preset curvature value.

[0131] The wire trajectory generation module 400 is used to simulate and obtain the electrode wire trajectory in the patient's skull according to the target feature point set.

[0132] This device utilizes the direction of the electrode wire in the skull and can accurately identify the intracranial electrode wire portion by comparing the preset bending value with the degree of bending of the electrode wire in the skull. It also uses the points corresponding to the intracranial electrode wire portion to perform accurate three-dimensional visualization of the intracranial electrode wire, allowing doctors to better understand the positional relationship between the intracranial electrode wire and the surrounding nerve fiber bundles, thereby helping doctors optimize programming parameters and improve treatment effects.

[0133] In a third aspect of this embodiment, an implantable medical system 1 is provided, in combination with the attached Figure 8 As shown, the implantable medical system 1 includes a first processor 11 and a display screen 12 .

[0134] The first processor 11 is configured to communicate with the medical acquisition device 20 and execute the generation method of the first aspect. The medical acquisition device 20 is used to acquire medical image data of a patient.

[0135] The display screen 12 is configured to display medical imaging data, wherein the medical imaging data at least includes a set of CT images obtained by scanning the patient's brain in at least one computed tomography (CT) scanning direction after the electrode wire is implanted in the patient's skull, and the trajectory of the electrode wire in the patient's skull.

[0136] The present application obtains accurate intracranial electrode wire trajectories through the first processor 11, and uses the display screen 12 to achieve three-dimensional visual rendering of the electrode wire trajectories in the patient's skull, which can be better used to assist programmed treatment and improve the treatment effect of the implantable medical system.

[0137] In a fourth aspect of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a second processor, the steps of the generation method of the first aspect are implemented.

[0138] According to a fifth aspect of the present embodiment, a computer program product is provided. The computer program product includes instructions. When the instructions are executed on an electronic device, the electronic device implements the steps of the generation method of the first aspect.

[0139] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on the medical device. In other embodiments of the present application, the medical device may include more or fewer components, or combine certain components, or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0140] The first processor 11 and / or the second processor may include one or more processing units, for example, a central processing unit CPU (Central Processing Unit), a graphics processor GPU (Graphics Processing Unit), a digital signal processor DSP, a microprocessor MCU (Micro-programmed Control Unit), an AI (Artificial Intelligence, artificial intelligence) processor or a programmable logic device FPGA (Field Programmable Gate Array) and the like processing module or processing circuit. Among them, different processing units can be independent devices or integrated in one or more processors. A storage unit may be set in the first processor 11 and / or the second processor for storing instructions and data. In some embodiments, the storage unit in the first processor 11 and / or the second processor is a cache memory.

[0141] The various embodiments of the mechanism disclosed in the present application can be implemented in hardware, software, firmware or a combination of these implementation methods. The embodiments of the present application can be implemented as a computer program or program code executed on a programmable system, and the programmable system includes at least one third processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device and at least one output device.

[0142] Program code can be applied to input instructions to perform the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0143] Program code can be implemented with high-level programming language or object-oriented programming language to communicate with the processing system. When necessary, program code can also be implemented with assembly language or machine language. In fact, the mechanism described in this application is not limited to the scope of any specific programming language. In either case, the language can be a compiled language or an interpreted language.

[0144] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, instructions may be distributed over a network or through other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, including, but not limited to, floppy disks, optical disks, optical disks, read-only memories (CD-ROMs), magneto-optical disks, read-only memories (ROMs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), magnetic or optical cards, flash memory, or a tangible machine-readable memory for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in electrical, optical, acoustic, or other forms of propagation signals. Therefore, machine-readable media include any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a machine (e.g., computer) readable form.

[0145] In the accompanying drawings, some structural or method features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be required. Instead, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of structural or method features in a particular figure does not mean that such features are required in all embodiments, and in some embodiments, these features may not be included or may be combined with other features.

[0146] It should be noted that the units / modules mentioned in the various device embodiments of the present application are all logical units / modules. Physically, a logical unit / module can be a physical unit / module, or a part of a physical unit / module, or can be implemented as a combination of multiple physical units / modules. The physical implementation method of these logical units / modules themselves is not the most important. The combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed by the present application. In addition, in order to highlight the innovative part of the present application, the above-mentioned device embodiments of the present application do not introduce units / modules that are not closely related to solving the technical problems proposed by the present application, which does not mean that there are no other units / modules in the above-mentioned device embodiments.

[0147] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0148] Although the present application has been illustrated and described with reference to certain preferred embodiments thereof, it will be apparent to those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present application.

[0149] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, substitute and modify the above embodiments within the scope of the invention without departing from the principles and purpose of the present invention. All such changes should fall within the scope of protection of the claims of the present invention.

Claims

1. A method for generating intracranial electrode wire trajectories, characterized in that: The method comprises: Obtain medical imaging data of the patient's brain after the electrode wire is implanted in the patient's brain; Extracting a set of feature points corresponding to the electrode wire from the medical imaging data; According to the trajectory characteristics of the electrode wire in the patient's skull, a target feature point set implanted in the patient's skull is selected from the feature point set, wherein the trajectory characteristics at least indicate that the bending degree of the electrode wire in the patient's skull does not exceed a preset bending value; According to the target feature point set, the electrode wire trajectory in the patient's skull is simulated.

2. The generation method according to claim 1, characterized in that: According to the trajectory characteristics of the electrode wire in the patient's skull, a target feature point set implanted in the patient's skull is selected from the feature point set, including: Starting from the feature point corresponding to the electrode wire implanted deepest in the skull, the bending degree of the electrode wire between any three adjacent feature points among all feature points is calculated in sequence; When the bending degree is greater than a preset bending value, a characteristic inflection point of the electrode lead implanted into the patient's skull is determined from characteristic points corresponding to the bending degree; Based on the characteristic inflection point, the target characteristic point set is obtained by screening from the characteristic point set.

3. The generation method according to claim 2, characterized in that: Calculate the bending degree of the electrode wire between any three adjacent feature points among all feature points, including: Get the spatial coordinates of any three adjacent feature points respectively; According to the spatial coordinates of two groups of two adjacent feature points among the three adjacent feature points, sequentially calculating a first direction vector and a second direction vector between the two groups of two adjacent feature points; The dot product of the first direction vector and the second direction vector is calculated, and the dot product is used as the bending degree of the electrode wire between three adjacent feature points.

4. The generation method according to claim 1, characterized in that: According to the trajectory characteristics of the electrode wire in the patient's skull, a target feature point set implanted in the patient's skull is selected from the feature point set, including: According to the spatial coordinates of each feature point in the feature point set, an initial electrode trajectory of the electrode wire is obtained by fitting; Determining the slope range of the electrode track of the electrode lead implanted into the intracranial portion according to the track characteristics of the electrode lead in the patient's skull; According to the electrode track slope range and the track slopes at different positions of the initial electrode track, intercepting at least a portion of the initial electrode track to obtain the target electrode track; A target feature point set to be implanted into the patient's skull is determined based on the feature points in the target electrode trajectory.

5. The generation method according to claim 3 or 4, characterized in that: According to the target feature point set, the electrode wire trajectory in the patient's skull is simulated, including: According to the spatial coordinates of each feature point in the target feature point set, a curve trajectory equation of the electrode wire in the patient's skull is obtained by fitting; The electrode wire trajectory in the patient's skull is determined according to the curve trajectory equation and the brain environment information in the patient's skull.

6. The generation method according to claim 5, characterized in that: The method further comprises: The length of the electrode wire implanted in the patient's skull is calculated based on the curve trajectory equation and by taking the characteristic point corresponding to the electrode wire implanted deepest in the skull and the characteristic inflection point as the endpoint of the electrode implantation.

7. The generation method according to claim 1, characterized in that: The medical image data at least includes a set of CT images obtained by scanning along at least one computer tomography (CT) scanning direction.

8. The generation method according to claim 7, characterized in that: The method for acquiring the spatial coordinates of the feature points includes: For each electrode lead and the image identifier corresponding to each electrode lead, obtaining at most one feature point corresponding to the electrode lead in each CT image of the CT image set; Based on the voxel coordinates corresponding to each feature point, the space coordinates corresponding to the feature point are determined.

9. The generation method according to claim 7, characterized in that: The CT scanning directions include sagittal and coronal.

10. A device for generating intracranial electrode wire trajectories, characterized in that: The generating device comprises: Image acquisition module: used to obtain medical imaging data of the patient's brain after the electrode wire is implanted in the patient's brain; Feature point extraction module: used to extract a set of feature points corresponding to the electrode wire from the medical image data; A target feature point acquisition module: based on the trajectory feature of the electrode wire in the patient's skull, a target feature point set implanted in the patient's skull is selected from the feature point set, wherein the trajectory feature at least indicates that the bending degree of the electrode wire in the patient's skull does not exceed a preset bending value; A wire trajectory generation module is used to simulate the electrode wire trajectory in the patient's skull according to the target feature point set.

11. An implantable medical system, characterized in that The implantable medical system comprises: A first processor is configured to communicate with a medical acquisition device and execute the method according to any one of claims 1 to 9, wherein the medical acquisition device is used to acquire medical imaging data of a patient; The display screen is configured to display the medical imaging data, wherein the medical imaging data at least includes a set of CT images obtained by scanning the patient's brain in at least one computed tomography (CT) scanning direction after the electrode wire is implanted in the patient's skull, and the trajectory of the electrode wire in the patient's skull.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which implements the steps of the method according to any one of claims 1 to 9 when executed by the second processor.

13. A computer program product, characterized in that The computer program product comprises instructions, which, when executed on an electronic device, cause the electronic device to implement the steps of the method according to any one of claims 1 to 9.

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