A path planning method for subcutaneous deep layer injection of mandible

Abstract

The application discloses a path planning method for subcutaneous deep layer injection of a mandible, which comprises the following steps: determining a target region of a subcutaneous deep layer which needs to be filled or improved in contour based on three-dimensional anatomical data of a mandible; the subcutaneous deep layer refers to a loose connective tissue gap between a subcutaneous fat layer and an upper periosteum layer; planning a main path which is substantially parallel to a baseline of a lower edge of the mandible or substantially coincides with a preset mandible contour line in the target region; the main path is located in the subcutaneous deep layer; planning a plurality of branch injection paths based on the main path; the starting points of the branch injection paths are distributed at intervals along the main path and extend alternately to the outside of both sides of the main path; and all the paths form a wheat ear-shaped topological structure with the main path as a central axis and the branch injection paths extending to both sides. The method effectively avoids excessive concentration of fillers in any dimension, thereby significantly reducing the swelling degree of local tissues caused by pressure concentration and being beneficial to shortening the recovery time.

Description

Technical Field

[0001] This invention relates to the field of medical technology, specifically to a pathway planning method for deep subcutaneous injection in the mandibular region. Background Technology

[0002] In the field of cosmetic medicine, facial contouring using injectable fillers to improve jawline and increase jaw volume is a common and important treatment method. Fillers (such as hyaluronic acid) need to form a uniform and stable support structure in the deep subcutaneous tissue to achieve the aesthetic goals of a fuller contour, a natural feel, and long-lasting results.

[0003] Currently, there are several representative methods for injection techniques targeting the mandibular region, but all of them have inherent technical limitations: Linear tunneling injection: This method involves advancing a needle along a single linear path deep under the skin (such as on the periosteum), continuously ejecting filler during needle withdrawal to form a continuous linear or strip-shaped filler deposition. The technical drawbacks of this method are: First, the filler is confined to a single linear space, resulting in a one-dimensional distribution in the three-dimensional tissue space, failing to provide effective planar support and easily perceived as a noticeable cord-like foreign body upon touch, resulting in poor naturalness; second, because the filler is concentrated in a narrow tunnel, it generates uneven radial pressure on surrounding tissues, a significant reason for postoperative local swelling and a prolonged recovery period; third, the mechanical stability of linear deposition is insufficient, and under long-term stress such as facial muscle activity, displacement or morphological changes may occur.

[0004] Multi-point fan-shaped injection: This method involves injecting multiple independent small-dose filler points in a fan shape in different directions from the same injection point, forming a star-shaped or fan-shaped distribution. The technical drawbacks of this method are: First, there is a lack of effective spatial connection between the injection points, resulting in an "island" distribution of filler. This can easily create gaps between the points, leading to discontinuous support for the jawline and uneven shaping lines. Second, because all injection paths share a single injection point, the filler concentration in the core area can easily become too high, resulting in "clump-like" aggregations. This not only feels abrupt but also exacerbates local tissue pressure and irregular swelling. Finally, the overall cohesive force of the dot-shaped filler distribution is difficult to achieve, resulting in weak mechanical properties. Summary of the Invention

[0005] This invention provides a path planning method for deep subcutaneous injection in the mandibular region, comprising the following steps: S1. Target Area and Layer Determination: Based on the three-dimensional anatomical data of the mandible, determine the deep subcutaneous target area where volume needs to be increased or contour needs to be improved; the deep subcutaneous layer specifically refers to the loose connective tissue gap between the subcutaneous fat layer and the periosteum. S2. Main path planning: Within the target area, plan a main path that is basically parallel to the lower edge baseline of the mandible or basically coincides with the preset mandibular contour line; the main path is located in the deep subcutaneous layer. S3. Branch Injection Path Planning: Based on the main path, plan multiple branch injection paths; the starting points of the branch injection paths are distributed at intervals along the main path and extend alternately to the outer sides of the main path, and the ending points of the branch injection paths are located inside the boundary of the target area; all paths form a wheat-ear-shaped topology in space, with the main path as the needle entry channel and the branch injection paths extending to both sides for filler injection.

[0006] In one possible implementation, in step S3, the extension direction of the branch injection path forms an acute angle with the local tangent direction of the main path, and the value of the acute angle ranges from 40° to 50°.

[0007] In one possible implementation, the method further includes step S4: injection parameter planning; assigning injection parameters to each of the branch injection paths; wherein, according to the required support strength, different filler injection volumes are planned for the branch injection paths in different regions.

[0008] In one possible implementation, the method further includes step S5: path speed attribute association; associating the planned wheat-ear-shaped topology with preset injection speed parameters; wherein, when injecting on the branch injection path, a preset injection speed is used.

[0009] In one possible implementation, the planned wheat-ear-shaped topology is mapped to an augmented reality or mixed reality navigation device to generate visual path guidance information superimposed on the actual image of the patient's jaw area, wherein the main path and the branch injection paths are distinguished by different visual attributes.

[0010] In one possible implementation, the branch injection paths in the wheat-ear-shaped topology are planned to have a predetermined curvature, which is an arc that curves laterally and upward to adapt to the curved shape of the mandibular body.

[0011] In one possible implementation, the method further includes: dynamically adjusting the distribution density of the branch injection paths according to the required filling support strength of different sub-regions within the target area; wherein, in the mandibular angle region where stronger support is required, the planned density of the branch injection paths is greater than that in the central mandibular body region.

[0012] Compared with the prior art, the beneficial effects of the present invention are: 1. Through a "trunk-branch" wheat-ear-like pathway structure, the filler is guided from a single linear or point-like distribution to a multi-directional, dispersed support network in three-dimensional space. This effectively avoids excessive concentration of the filler in any dimension, thereby significantly reducing the degree of swelling in local tissues caused by pressure concentration and helping to shorten recovery time.

[0013] 2. The main path serves as the needle insertion guide and structural benchmark. The filling network formed by the alternating branch injection paths on both sides creates a broad and stable support base. Together, they ensure the smoothness and mechanical stability of the shaping effect, effectively prevent filler displacement, and guarantee the durability of the aesthetic effect. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the process of the present invention; Figure 2 This is a diagram illustrating the path of the present invention on a human face. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0016] It should be noted that the serial numbers assigned to the components in the embodiments of the present invention, such as "first" and "second", are only used to distinguish the described objects and have no sequential or technical meaning.

[0017] This invention provides a path planning method for deep subcutaneous injection in the mandibular region, comprising the following steps: S1. Target Area and Layer Determination: Based on the three-dimensional anatomical data of the mandible, determine the deep subcutaneous target area where volume needs to be increased or contour needs to be improved; the deep subcutaneous layer specifically refers to the loose connective tissue gap between the subcutaneous fat layer and the periosteum. Specifically, a precise geometric model of the mandible can be obtained by performing three-dimensional reconstruction from CT or MRI images of the mandibular region. The target area can be defined on this three-dimensional model by delineating a band-shaped region at a specific distance (e.g., 3-8 mm) from the lower edge of the mandible. The deep subcutaneous layer, namely the loose connective tissue space between the subcutaneous fat layer and the periosteum, can be identified and confirmed on medical images by its low-density characteristics.

[0018] S2. Main path planning: Within the target area, plan a main path that is basically parallel to the lower edge baseline of the mandible or basically coincides with the preset mandibular contour line; the main path is located in the deep subcutaneous layer. S3. Branch Injection Path Planning: Based on the main path, plan multiple branch injection paths; the starting points of the branch injection paths are distributed at intervals along the main path and extend alternately to the outer sides of the main path, and the ending points of the branch injection paths are located inside the boundary of the target area; all paths form a wheat-ear-shaped topology in space, with the main path as the needle entry channel and the branch injection paths extending to both sides for filler injection.

[0019] In a preferred embodiment, multiple branch injection paths extending to the same side of the main path can be planned to extend in parallel directions. This parallel structure helps the filler to form a more uniform and consistent distribution layer on that side.

[0020] As another preferred embodiment, the branch injection path can be planned with a predetermined curvature, presenting an arc that bends laterally and upward. This arc can match the natural curvature of the mandibular body, making the distribution of the filler more closely conform to the skeletal anatomy and resulting in a more natural shaping effect.

[0021] S4. Injection parameter planning; assigning injection parameters to each branch injection path; wherein, according to the required support strength, different filler injection volumes are planned for branch injection paths in different regions.

[0022] S5. Path speed attribute association; associate the planned wheat-ear-shaped topology with the preset injection speed parameters; wherein, when injecting on the branch injection path, the preset injection speed is used.

[0023] In step S3, the extension direction of the branch injection path forms an acute angle with the local tangent direction of the main path. The value of the acute angle ranges from 40° to 50°, and the optimal value is 45°.

[0024] In this invention, different path allocations can also be used for different regions.

[0025] Specifically, the distribution density of the branch injection paths is dynamically adjusted according to the required filling support strength of different sub-regions within the target area; wherein, in the mandibular angle region where stronger support is required, the planned density of branch injection paths is greater than that in the central mandibular body region.

[0026] After completing the above path planning, a digital path model containing all path spatial coordinates, sequences, and attribute parameters can be generated. This model can be used for: 1. Visual Preview: The path planning results are displayed in 3D on the screen for doctors to evaluate and adjust.

[0027] 2. Drive navigation devices: Map to AR / MR devices for navigation.

[0028] 3. Drive automated equipment: Import the digital model into a high-precision injection robot system to directly control the movement trajectory of the robotic arm and the injection parameters of the syringe, so as to achieve standardized and highly repeatable precision injection.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A path planning method for deep subcutaneous injection in the mandibular region, characterized in that, include: S1. Target Area and Layer Determination: Based on the three-dimensional anatomical data of the mandible, determine the deep subcutaneous target areas that need to be increased in volume or have their contours improved. The deep subcutaneous layer specifically refers to the loose connective tissue space between the subcutaneous fat layer and the upper periosteum; S2. Main path planning: Within the target area, plan a main path that is basically parallel to the lower edge baseline of the mandible or basically coincides with the preset mandibular contour line; the main path is located in the deep subcutaneous layer. S3. Branch Injection Path Planning: Based on the main path, plan multiple branch injection paths; the starting points of the branch injection paths are distributed at intervals along the main path and extend alternately to the outer sides of the main path, and the ending points of the branch injection paths are located inside the boundary of the target area; all paths form a wheat ear-shaped topology in space, with the main path as the needle entry channel and the branch injection paths extending to both sides for filler injection.

2. The path planning method for deep subcutaneous injection in the mandibular region according to claim 1, characterized in that, In step S3, the extension direction of the branch injection path forms an acute angle with the local tangent direction of the main path, and the value of the acute angle ranges from 40° to 50°.

3. The method according to claim 1, characterized in that, The method further includes step S4: injection parameter planning; assigning injection parameters to each of the branch injection paths; wherein, according to the required support strength, different filler injection volumes are planned for the branch injection paths in different regions.

4. The method according to claim 3, characterized in that, The method further includes step S5: path speed attribute association; associating the planned wheat-ear-shaped topology with preset injection speed parameters; wherein, when injecting on the branch injection path, the preset injection speed is used.

5. The path planning method for deep subcutaneous injection in the mandibular region according to claim 4, characterized in that, The method further includes: The planned wheat-ear-shaped topology is mapped to an augmented reality or mixed reality navigation device to generate visual path guidance information superimposed on the actual image of the patient's mandible, wherein the main path and the branch injection path are distinguished and displayed with different visual attributes.

6. The path planning method for deep subcutaneous injection in the mandibular region according to claim 1, characterized in that, The branch injection paths in the wheat-ear-shaped topology are planned to have a predetermined curvature, and their shape is an arc that bends laterally and upward to adapt to the curved shape of the mandibular body.

7. The path planning method for deep subcutaneous injection in the mandibular region according to claim 1, characterized in that, Also includes: The distribution density of the branch injection paths is dynamically adjusted according to the required filling support strength of different sub-regions within the target area; wherein, in the mandibular angle region where stronger support is required, the planned density of branch injection paths is greater than that in the central mandibular body region.

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