Path planning method and readable storage medium

Abstract

The application discloses a path planning method and a readable storage medium, and belongs to the field of computer data processing. The path planning method comprises the following steps: S1, determining a target point region, and generating first risk information between a plurality of target points in the target point region and a key structure according to the target point region; S2, obtaining a confirmed target point in the plurality of target points according to the first risk information, and determining a skull reference point region according to the confirmed target point; S3, constructing a to-be-confirmed trajectory between the confirmed target point and the skull reference point region, and generating second risk information between the to-be-confirmed trajectory and the key structure according to the to-be-confirmed trajectory; and S4, obtaining a determined trajectory according to the second risk information. The application can assist a user to safely and efficiently perform path planning.

Description

Technical Field

[0001] This invention relates to the field of computer data processing, and in particular to a path planning method and a readable storage medium. Background Technology

[0002] In the field of interventional neurosurgery, surgical tools such as electrodes are sometimes used to place interventional devices within a patient's cranial cavity for purposes such as epilepsy treatment, intervention in the cochlear region, or treatment of cancerous objects within the skull. Stereo-Electroencephalography (SEEG) or deep brain stimulation (DBS) requires the placement of such electrodes along a pre-defined trajectory to achieve the corresponding therapeutic objectives.

[0003] For example, SEEG technology involves implanting deep electrodes within the cranial cavity of epilepsy patients to locate the epileptic seizure area based on recording brain electrical activity. In practice, an average of 7-12 electrodes are implanted in a patient's cranial cavity, with the electrode pathways manually planned by the physician. On the one hand, this pathway planning process relies heavily on the physician's experience, demanding a high level of skill, and its subjective nature also carries significant risks. On the other hand, this pathway planning process takes approximately 2-3 hours, which is very time-consuming and increases patient discomfort. Summary of the Invention

[0004] To address at least one of the aforementioned problems and deficiencies in the prior art, embodiments of the present invention provide a path planning method and a readable storage medium. The path planning method and readable storage medium of the present invention can provide risk information to users (e.g., doctors) for trajectory determination, thereby avoiding a planning process entirely reliant on experience and assisting users in safely and efficiently performing path planning (e.g., for electrodes).

[0005] One object of the present invention is to provide a path planning method.

[0006] Another object of the present invention is to provide a readable storage medium.

[0007] According to one aspect of the present invention, a path planning method is provided, comprising the following steps:

[0008] Step S1 determines the target area and generates first risk information between multiple targets in the target area and the key structure based on the target area;

[0009] Step S2: Based on the first risk information, obtain the confirmed target point among the multiple target points, and determine the skull reference point region based on the confirmed target point;

[0010] Step S3: Construct a trajectory to be confirmed between the confirmed target point and the skull reference point region, and generate second risk information between the trajectory to be confirmed and the critical structure based on the trajectory to be confirmed.

[0011] Step S4: Obtain the determined trajectory based on the second risk information.

[0012] According to another aspect of the present invention, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the path planning method described in any of the above embodiments.

[0013] The path planning method and readable storage medium according to the present invention have at least one of the following advantages:

[0014] (1) The path planning method and readable storage medium of the present invention provide relevant risk information based on user interface operation to provide a reference for users to confirm the trajectory, eliminating the process that relies entirely on subjective experience and improving the safety of path planning.

[0015] (2) The path planning method and readable storage medium of the present invention assist users in path planning, shortening the path planning time. For example, the planning time for a single trajectory is shortened to about 15 seconds, thereby improving the efficiency of path planning and reducing the discomfort caused to patients due to the long planning process.

[0016] (3) The path planning method and readable storage medium of the present invention can provide corresponding trajectory information after the path trajectory is determined, such as trajectory length, implantation angle, gray matter sampling rate, whether the entry point is in the temporal lobe (entry point location, temporalis muscle thickness, trajectory and functional network intersection, etc., thereby making the information more transparent in the path planning process. Attached Figure Description

[0017] These and / or other aspects and advantages of the present invention will become apparent and readily understood from the following description of preferred embodiments taken in conjunction with the accompanying drawings, in which:

[0018] Figure 1 A path planning method according to an embodiment of the present invention is shown;

[0019] Figure 2 It shows Figure 1 The detailed steps of step S1 in the path planning method shown;

[0020] Figure 3 It shows Figure 1 The detailed steps of step S3 in the path planning method shown are as follows. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. In this specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation thereof.

[0022] In embodiments of the present invention, a path planning method is provided. For example... Figure 1 As shown, this path planning method includes the following steps:

[0023] Step S1 determines the target region (e.g., by responding to a first operation of the user interface), and generates first risk information between multiple targets in the target region and at least one of multiple key structures based on the target region.

[0024] Step S2: Obtain at least one confirmed target point among the plurality of target points based on the first risk information (e.g., obtain the confirmed target point by responding to a second user interface operation performed by the user based on the first risk information), and determine the skull reference point region based on the at least one confirmed target point.

[0025] Step S3: Construct at least one trajectory to be confirmed between the at least one confirmed target point and the skull reference point region, and generate second risk information between the at least one trajectory to be confirmed and the at least one critical structure.

[0026] Step S4 obtains at least one determined trajectory based on the second risk information (e.g., by obtaining at least one determined trajectory in response to a third user interface operation performed by the user based on the second risk information).

[0027] The embodiments of the present invention can provide relevant risk information (e.g., provide relevant risk information based on user interface operations) to provide a reference for users to confirm their trajectories, thereby assisting users in completing route planning, which is closer to users' planning habits and preferences, and can shorten route planning time and improve route planning efficiency.

[0028] The embodiments of the present invention eliminate the process that relies entirely on subjective experience, thereby improving the safety of path planning.

[0029] The embodiments of the present invention perform path planning based on information on the skull (e.g., the points on the skull where the electrodes are located), eliminating the inaccuracies caused by muscle deformation in the cortical region, thereby improving the accuracy of the planned path.

[0030] In one example, step S2 further includes the following steps:

[0031] Step S21 responds to the fourth operation of the user interface to determine the entry point area;

[0032] Step S22: Obtain a line connecting the at least one confirmed target point and the at least one entry point in the entry point region, and obtain at least one intersection of the line with the skull.

[0033] The skull reference point region includes the at least one intersection point.

[0034] In another embodiment of the present invention, the path planning method may include the following steps:

[0035] Step S1' determines the entry point region (e.g., by determining the entry point region in response to a first operation of the user interface), and generates first risk information between multiple entry points in the entry point region and at least one of multiple key structures based on the entry point region;

[0036] Step S2' Obtain at least one confirmed entry point among the plurality of entry points based on the first risk information (e.g., by obtaining a confirmed entry point in response to a second user interface operation performed by the user based on the first risk information), and determine the skull reference point region based on the at least one confirmed entry point;

[0037] Step S3' constructs at least one trajectory to be confirmed between the at least one confirmed entry point and the skull reference point region, and generates second risk information between the at least one trajectory to be confirmed and the at least one critical structure.

[0038] Step S4' obtains at least one determined trajectory based on the second risk information (e.g., by obtaining at least one determined trajectory in response to a third user interface operation performed by the user based on the second risk information). Step S2' further includes the following steps:

[0039] Step S21' responds to the fourth operation of the user interface to determine the target area;

[0040] Step S22' Obtain at least one line connecting the at least one confirmed entry point and the at least one target point in the target area, and obtain at least one intersection point between the at least one line and the skull.

[0041] The skull reference point region includes the at least one intersection point.

[0042] In other words, the path planning method in embodiments of the present invention can be designed to first determine the target area, then provide risk information, and the user performs corresponding interface operations based on the risk information until a determined trajectory is obtained. Alternatively, the path planning method in embodiments of the present invention can first determine the entry point area, then provide risk information, and the user performs corresponding interface operations based on the risk information until a determined trajectory is obtained. Therefore, regardless of whether the target area or the entry point area is determined first, the implementation method and principle of the path planning method in embodiments of the present invention are basically the same. Thus, those skilled in the art can design the order in which the target point and entry point are selected according to actual needs.

[0043] The following are merely some of the embodiments of the present invention, which are only for illustrative purposes; those skilled in the art will understand that other feasible embodiments of the present invention have methods and principles that are substantially the same as those in this example, and will not be repeated here.

[0044] Specifically, step S1 includes: receiving an instruction to select the target region on the preprocessed image displayed in the user interface. Selecting the target region on the preprocessed image displayed in the user interface corresponds to a first operation of the user interface. Based on the above operation, embodiments of the present invention can determine the target region in response to the first operation of the user interface. In one example, the first operation can be selecting a target region on the preprocessed image; it can also be sequentially selecting multiple target points in the preprocessed image to form a target region; of course, it can also be determining the target region by selecting a prompt option according to the prompt on the user interface; it can also be determining the target region by inputting the coordinates of multiple intended target points or the set range of the target region (e.g., determined by numerical range, set according to keywords) in the user interface. Those skilled in the art can make corresponding substitutions using other existing technologies, as long as the selection of the target region can be achieved.

[0045] The preprocessed image is at least one of a computed tomography (CT) image and a magnetic resonance imaging (MRI) image after image preprocessing.

[0046] In one example, image preprocessing includes the following steps:

[0047] Provides computed tomography (CT) images.

[0048] Provides magnetic resonance imaging (MRI) images.

[0049] Provides CT angiography (CTA) images.

[0050] Provides magnetic resonance angiography (MRA) images.

[0051] Provides magnetic resonance venogram (MRV) images.

[0052] Computed tomography (CT) images and magnetic resonance imaging (MRI) images are registered into the space of magnetic resonance T1-weighted imaging for data registration.

[0053] A mask of all critical structures in at least one critical structure is obtained to identify critical structures in an image. The critical structures can be pre-defined intracranial structures. For example, types of critical structures include blood vessels, ventricles, and the cerebellum. The purpose of this invention in identifying critical structures is to determine whether the selected target point and the planned path will pass through or be adjacent to critical structures during path planning, as paths passing through or being adjacent to critical structures may damage them. Therefore, this determination process can identify whether the selected target area and the planned path are low-risk targets or paths, i.e., safe targets or paths. A mask of the skull is obtained to determine the set of points on the skull. This allows information about the points on the skull to be obtained, enabling the determination of the desired path based on these points.

[0054] A mask is obtained representing the midline between the left and right hemispheres, for example, by generating the midline from CT or MRI images during the data reconstruction phase to facilitate the segmentation of the left and right hemispheres. This allows for the differentiation of target points into left-brain and right-brain target points, and entry points into left-brain and right-brain entry points. Therefore, this example avoids the planned path traversing both hemispheres, thus eliminating unnecessary risks.

[0055] The invention obtains segmented vascular images after cerebral vascular image segmentation to identify vascular tissue in the images. The purpose of identifying vascular tissue in the present invention is to determine whether the selected target point and the planned path will pass through or be adjacent to vascular tissue during the path planning process, thereby determining whether the selected target point and the planned path are low-risk targets and paths.

[0056] Furthermore, methods for obtaining cerebral vascular image segmentation include segmenting cerebral vascular information from image data obtained by non-invasive vascular imaging techniques (CTA), magnetic resonance angiography (MRA), and magnetic resonance venography (MRV) using image segmentation methods or models. For example, for image data obtained through CTA, edge detection can be used to obtain edge contours, Gaussian filtering can be applied to the obtained edge contours for smoothing, morphological erosion and dilation can be used to eliminate holes in the image, and gradient calculation can be performed to obtain the edge points of vascular tissue. For image data obtained through MRA and MRV, vascular tissue can be obtained through thresholding and multi-scale filtering processes.

[0057] Specifically, step S1 further includes:

[0058] Step S11: Based on the determined target region, obtain a third distance between multiple target points in the target region and at least one of multiple key structures (the first and second distances will be described below). For example, the third distance between multiple target points in the target region and at least one of blood vessels, ventricles, and cerebellum can be obtained, or the third distance between multiple target points in the target region and each or any combination of blood vessels, ventricles, and cerebellum can be obtained.

[0059] In one example, the target area is a target area selected by the user. Of course, those skilled in the art will understand that the target area can also be a target area automatically selected or planned by the device based on the acquired patient data.

[0060] Step S12 determines the relationship between the third distance and the third preset distance threshold (e.g., 2mm, 3mm, 4mm or 5mm, etc.) to generate first risk information.

[0061] During path planning, to ensure the safety of subsequent operations, the target point needs to maintain a certain safe distance from critical structures in the brain. First risk information can, for example, indicate the distance relationship between the target point and the critical structures. Preferably, the first risk information includes a first risk sub-information for indicating that the risk of ignoring the current target point, and a first risk second sub-information for indicating that the current target point should be deleted and a new target point should be selected. Optionally, the first risk information also includes a first risk third sub-information for indicating that step S2 should be executed after deleting conflicting target points, and a first risk fourth sub-information for indicating that step S2 should be executed after deleting the identified and conflicting trajectory.

[0062] In one example, the third preset distance threshold between the target point and the critical structure is set to 3mm. When the third distance is outside the third preset distance threshold, that is, when the third distance is greater than 3mm, the target point is confirmed to be far from the critical structure and is a safe target point or a low-risk target point. When the third distance is within the third preset distance threshold, that is, when the third distance is less than or equal to 3mm, the target point is confirmed to be close to the critical structure and is a high-risk target point.

[0063] When the third distance is outside the third preset distance threshold (i.e., the third distance is greater than the third preset distance threshold), the first risk first sub-information is generated.

[0064] When the third distance is within the third preset distance threshold (i.e., the third distance is less than or equal to the third preset distance threshold), the first risk second sub-information is generated.

[0065] When the key structure includes two or more structures, it is preferable to generate first risk first sub-information when the third distance between the target and each key structure is outside the third preset distance threshold; and generate first risk second sub-information when the third distance between the target and each key structure is not outside the third preset distance threshold.

[0066] In one example, during path planning, for safety reasons, it is also necessary to ensure that a safe distance is maintained between the target point and the determined trajectory. Based on this, step S12 further includes:

[0067] When the third distance is determined to be outside the third preset distance threshold (i.e., the third distance is greater than the third preset distance threshold), at least one target point to be screened is obtained from multiple target points, and the server is queried to see if there is a determined trajectory.

[0068] When the server has the determined trajectory, it determines the relationship between the fourth distance and the fourth preset distance threshold (e.g., 8mm, 9mm, 10mm, 12mm or 15mm) between all the target points to be screened and the determined trajectory, and generates the first risk information based on the judgment result.

[0069] In one example, the fourth preset distance threshold between the target point and the determined trajectory is set to 10mm. When the fourth distance is outside the fourth preset distance threshold, that is, when the fourth distance is greater than 10mm, the target point is confirmed to be far from the confirmed trajectory and is a safe target point or a low-risk target point. When the fourth distance is within the fourth preset distance threshold, that is, when the fourth distance is less than or equal to 10mm, the target point is confirmed to be close to the confirmed trajectory and is a high-risk target point.

[0070] The process for determining the relationship between the fourth distance and the fourth preset distance threshold is as follows: when the fourth distance between the target point to be screened and the determined trajectory is outside the fourth preset distance threshold (the fourth distance is greater than the fourth preset distance threshold), it is determined that there is no conflict between the target point to be screened and the determined trajectory, that is, the target point to be screened is a low-risk target point; when the fourth distance between the target point to be screened and the determined trajectory is within the fourth preset distance threshold range (the fourth distance is less than or equal to the fourth preset distance threshold), it is determined that there is a conflict between the target point to be screened and the determined trajectory, that is, the target point to be screened is a high-risk target point.

[0071] Furthermore, when all the target points to be screened do not conflict with the determined trajectories, the first risk first sub-information is generated; when all the target points to be screened conflict with the determined trajectories, the first risk second sub-information is generated; when all the target points to be screened have both non-conflicting and conflicting trajectories with the determined trajectories, the first risk third sub-information and / or the first risk fourth sub-information are generated. That is, when there are multiple target points, some of which are low-risk targets and others are high-risk targets, the first risk third sub-information and / or the first risk fourth sub-information are generated. Through the design of the first risk third sub-information and the first risk fourth sub-information, users can make bidirectional selections as needed, i.e., they can choose to delete target points or determined trajectories that need to be deleted. Of course, those skilled in the art can also design it so that both conflicting target points and conflicting determined trajectories can be deleted. For example, when there are multiple conflicting targets and multiple conflicting established trajectories, users can select the target to be deleted from the multiple conflicting targets as needed, and delete the conflicting trajectories to be deleted from the multiple conflicting trajectories, so that the remaining conflicting targets and conflicting trajectories no longer conflict with each other.

[0072] In one example, the first risk sub-information can be set to, for example, ignoring the risk and continuing to the next step; or selecting the current target and continuing; the first risk second sub-information can be designed to delete the current target and reselect a target (i.e., repeat the current step); the first risk third sub-information can be designed to delete conflicting targets and retain non-conflicting targets, and continue to the next step; the first risk fourth sub-information can be designed to delete trajectories that conflict with the current target and continue to the next step. Those skilled in the art will understand that when some of the targets to be screened are high-risk targets, the first risk third sub-information and / or the first risk fourth sub-information can be generated; when all the targets to be screened are high-risk targets, the first risk second sub-information and / or the first risk fourth sub-information can be generated.

[0073] In one example, the first risk sub-information, the first risk second sub-information, the first risk third sub-information, and / or the first risk fourth sub-information can be identified using a heatmap for risk warning and / or step guidance. For example, the first risk sub-information can be identified with a first color, the first risk second sub-information with a second color, the first risk third sub-information with a third color, and the first risk fourth sub-information with a fourth color, with each of the first to fourth colors being different. In one example, a heatmap can be used to provide risk warnings and prompt the user to issue operation instructions, or risk warnings can be provided solely through a heatmap, with operation instructions issued through options or other means. Of course, those skilled in the art can use other methods to replace it, as long as risk warnings and / or prompting the user to issue operation instructions are achieved. For example, risk value information can be displayed at the location of the mouse cursor for risk warning.

[0074] In one example, when a high-risk target exists, a conflict index can be generated simultaneously. For instance, the conflict target's label or index number can be indicated in the third sub-information of the first risk; and / or the conflict trajectory's label or index number can be indicated in the fourth sub-information of the first risk. This design clearly shows the user the conflicting targets and / or the identified conflicting trajectories, and guides the user to select the targets or trajectories to be deleted.

[0075] If the server does not have the determined trajectory, then step S2 is executed.

[0076] Specifically, step S2 includes the following steps:

[0077] Receives a user's instruction to select the first risk sub-information, and determines the current target point as the current confirmed target point, wherein the current confirmed target point is at least one confirmed target point with low risk; or

[0078] Upon receiving the user's instruction to select the first risk and second sub-information, return and re-execute step S11 until at least one confirmed target point is obtained, i.e., repeat steps S11-S12 until one or more confirmed target points are obtained; or

[0079] Upon receiving the user's instruction to select the first risk third sub-information, after deleting conflicting targets, the non-conflicting targets are determined as the currently confirmed targets, wherein the currently confirmed targets are at least one confirmed target with low risk; or

[0080] The system receives a user's instruction to select the first risk and fourth sub-information, deletes the identified and conflicting trajectories, and determines the current target point as the current confirmed target point, wherein the current confirmed target point is at least one confirmed target point with low risk.

[0081] The user's selection of one of the first to fourth sub-information of the first risk corresponds to a second user interface operation. Therefore, embodiments of the present invention can obtain at least one confirmed target among a plurality of targets in response to the user's second user interface operation based on the first risk information.

[0082] In one example, when the first to fourth pieces of information about the first risk are selected via options, the second operation involves selecting any one of the first to fourth pieces of information to obtain the target point represented by that indicator. When the first to fourth pieces of information about the first risk are displayed via a heatmap, the second operation involves selecting a target point of one color based on the different color prompts in the heatmap. In one example, the second operation can obtain one or more target points, the number of which depends on the user's selection.

[0083] Step S2 further includes the following steps:

[0084] Step S21 responds to a fourth user interface operation (“the third operation”, which will be described in detail below) to determine the entry point region. The user selects the entry point region on a preprocessed image (preferably, an image of the left and right hemispheres that has been differentiated), thereby implementing the fourth user interface operation.

[0085] Step S22 obtains at least one line connecting at least one confirmed target point and at least one entry point in the at least one confirmed target point and entry point region, and obtains at least one intersection point between the at least one line and the skull. The at least one intersection point is located on the skull and constitutes a skull reference point region. Accurate path planning is possible based on the intersection points on the skull reference point region.

[0086] In one example, the fourth operation can be selecting an entry point region on the preprocessed image; it can also be selecting multiple entry points sequentially in the preprocessed image to form an entry point region; of course, it can also be determining the entry point region by selecting a prompt option based on the prompts on the user interface; or it can be determining the entry point region by inputting the coordinates of multiple intended entry points or the set range of the entry point region in the user interface (e.g., determined by numerical range, set according to keywords). Those skilled in the art can make corresponding substitutions using other existing technologies, as long as the selection of the entry point region can be achieved.

[0087] In one example, the first, second, third, and fourth operations are not used to indicate the order of operations, nor are they used to represent that the first, second, third, and fourth operations are different operations. That is, they can represent the same operation, such as when the user selects the next option. The first to fourth operations are only used to distinguish that the user's operation on the interface (or the interaction behavior it represents) occurs at different stages.

[0088] In one example, a line can be obtained between a confirmed target point and an entry point in an entry point region, or two or more lines can be obtained between a confirmed target point and its corresponding entry point from two or more entry points in an entry point region. Obtaining two or more lines simultaneously allows for the simultaneous confirmation of multiple trajectories, thus enabling efficient path planning. Of course, those skilled in the art will understand that two or more lines can also be obtained from two or more entry points in an entry point region. This approach provides multiple trajectories to be selected for a single confirmed target point, and the selection is performed through a subsequent judgment process, thereby improving the efficiency of path planning for a single target point. When multiple target points and multiple entry points selected by the user have many-to-many relationships, multi-path planning can be achieved simultaneously through subsequent judgment, resulting in safe and non-conflicting trajectories between different target points and their corresponding entry points.

[0089] Specifically, step S3 includes the following steps:

[0090] Step S31 constructs at least one trajectory to be confirmed based on at least one intersection point and at least one confirmed target point. In one example, a straight line can be constructed based on one intersection point and one corresponding confirmed target point; this straight line is one trajectory to be confirmed. In another example, a corresponding number of straight lines can be constructed simultaneously based on two or more intersection points and two or more corresponding confirmed target points; these corresponding numbers of straight lines are the corresponding number of trajectories to be confirmed. When multiple confirmed target points and multiple intersection points form a one-to-many relationship, i.e., one target point corresponds to multiple intersection points and each intersection point corresponds to only one target point, multiple straight lines can be constructed, and the optimal trajectory for the same target point can be obtained by filtering under different conditions. Of course, multiple confirmed target points and multiple intersection points can also form a many-to-many relationship, i.e., one target point corresponds to multiple intersection points, and each intersection point simultaneously corresponds to multiple target points, thus constructing multiple straight lines. This design allows multiple trajectories to be confirmed to be constructed simultaneously, thereby enabling the simultaneous planning of trajectories for multiple target points, thereby improving path planning efficiency while allowing each target point to obtain its own optimal path. In one example, two or more straight lines can be constructed simultaneously based on two or more intersections and the same confirmation target point. These two or more straight lines are the corresponding number of trajectories to be confirmed.

[0091] Step S32: Based on at least one trajectory to be confirmed, obtain a first distance between it and at least one key structure. For example, the first distance between the trajectory to be confirmed and at least one of blood vessels, ventricles, and cerebellum can be obtained, or the first distance between the trajectory to be confirmed and each of blood vessels, ventricles, and cerebellum, or any combination thereof, can be obtained.

[0092] Step S33 determines the relationship between the first distance and the first preset distance threshold (e.g., 2mm, 3mm, 4mm or 5mm, etc.) and generates the second risk information.

[0093] In one example, the first preset distance threshold between the trajectory to be confirmed and the critical structure is set to 3mm. When the first distance is outside the first preset distance threshold, i.e., the first distance is greater than 3mm, the trajectory to be confirmed is confirmed to be far from the critical structure and is a safe screening trajectory or a low-risk screening trajectory. When the first distance is within the first preset distance threshold, i.e., the first distance is less than or equal to 3mm, the trajectory to be confirmed is confirmed to be close to the critical structure and is a high-risk trajectory. Of course, those skilled in the art can set the first to fourth preset distance thresholds to different values ​​as thresholds as needed, or design any combination of the first to fourth preset distance thresholds to be the same value as thresholds. Of course, those skilled in the art will also understand that any one of the first to fourth preset distance thresholds or any combination thereof can be set as a threshold range as the threshold setting.

[0094] To ensure the safety of the planned path, the trajectory to be confirmed also needs to maintain a certain safe distance from critical structures in the brain. Secondary risk information can, for example, indicate the distance relationship between the trajectory to be confirmed and the critical structures. Preferably, the secondary risk information includes a first secondary risk sub-information indicating the risk of ignoring the current trajectory to be confirmed and a second secondary risk sub-information indicating the deletion of the current intersection and the reselection of an intersection. Optionally, the secondary risk information also includes a third secondary risk sub-information indicating the execution of step S4 after deleting conflict-filtered trajectories.

[0095] In one example, the first sub-information of the second risk can be set to, for example, ignoring the risk and continuing to the next step; or selecting the current trajectory and continuing; the second sub-information of the second risk can be designed to delete the current entry point and reselect an entry point (i.e., repeat the current step); the third sub-information of the second risk can be designed to delete conflicting trajectories and continue to the next step. The conflicting trajectory can be one or both of the selected trajectories that are judged to conflict with each other, or it can be a selected trajectory and / or a determined trajectory that are judged to conflict with each other among the selected trajectories.

[0096] In one example, the first sub-information of the second risk, the second sub-information of the second risk, and / or the third sub-information of the second risk can be identified using a heatmap for risk warning and / or step guidance. For example, the first sub-information of the second risk can be identified using a fifth color, the second sub-information of the second risk using a sixth color, and the third sub-information of the second risk using a seventh color, with each of the fifth to seventh colors being different. Since the warnings for the first and second risks occur at different stages, the warning colors for the first and second risks can be the same or different colors. Of course, those skilled in the art can use existing methods as alternatives, as long as they can achieve risk warning and / or enable the user to issue operation instructions. In one example, a heatmap can be used to both provide risk warnings and enable the user to issue operation instructions, or it can only provide risk warnings through a heatmap and issue operation instructions through selection of options, etc.

[0097] In one example, when a high-risk trajectory exists, a conflict index can be generated simultaneously. For instance, the conflict trajectory's label or index number can be provided in the prompt message of the second risk third sub-information. The conflict trajectories include the labels or index numbers of pairs of conflicting trajectories in the filtered trajectories, the labels or index numbers of filtered trajectories that conflict with each other and the identified trajectories, and the labels or index numbers of the identified trajectories. This design clearly shows the user the conflicting filtered trajectories and / or the conflicting identified trajectories, and guides the user to select the filtered trajectories and / or identified trajectories that need to be deleted.

[0098] When the first distance is outside the first preset distance threshold (i.e., the first distance is greater than the first preset distance threshold), the second risk first sub-information is generated.

[0099] When the first distance is within the first preset distance threshold (i.e., the first distance is less than or equal to the first preset distance threshold), the second risk second sub-information is generated.

[0100] When the key structure includes two or more structures, it is preferable to generate second risk first sub-information when the first distance between the trajectory to be confirmed and each key structure is outside the first preset distance threshold; and to generate second risk second sub-information when the first distance between the trajectory to be confirmed and each key structure is not outside the first preset distance threshold.

[0101] Step S33 further includes the following steps:

[0102] When the first distance is determined to be outside the first preset distance threshold, at least one filtering trajectory is obtained. When the first distance is greater than the first preset distance threshold, the trajectory to be confirmed can be confirmed as a filtering trajectory. When it is determined that the first distance between two or more trajectories to be confirmed and the key structure is greater than the first preset distance threshold, the two or more trajectories to be confirmed can be confirmed as two or more filtering trajectories.

[0103] The system determines the relationship between a second distance between all selected trajectories in the at least one selected trajectory and a second preset distance threshold (e.g., 8mm, 9mm, 10mm, 12mm, or 15mm), and generates second risk information based on this relationship. To ensure the safety of the planned path, a certain safety distance must be maintained between the determined multiple trajectories. The second risk information may, for example, indicate the distance relationship between the determined multiple trajectories.

[0104] In one example, the second preset distance threshold between the selected trajectories is set to 10mm. When the second distance is outside the second preset distance threshold, that is, when the second distance is greater than 10mm, it is confirmed that the distance between the two pairs of trajectories is relatively far, and they are safe or low-risk selected trajectories. When the second distance is within the second preset distance threshold, that is, when the second distance is less than or equal to 10mm, it is confirmed that the distance between the two pairs of trajectories is relatively close, and they are high-risk selected trajectories.

[0105] The process for determining the distance relationship between multiple determined trajectories is as follows: when the second distance between any two selected trajectories in at least one selected trajectory is outside the second preset distance threshold (the second distance is greater than the second preset distance threshold), it is determined that the two selected trajectories do not conflict with each other; when the second distance between any two selected trajectories in at least one selected trajectory is within the second preset distance threshold (the second distance is less than or equal to the second preset distance threshold), it is determined that the two selected trajectories conflict with each other.

[0106] Furthermore, when all screening trajectories in at least one screening trajectory are non-conflicting to each other, a second risk first sub-information is generated; when all screening trajectories in at least one screening trajectory are conflicting to each other, a second risk second sub-information is generated; when there are both non-conflicting and conflicting trajectories among all screening trajectories in at least one screening trajectory, a second risk third sub-information is generated.

[0107] In one example, during path planning, for safety reasons, it is also necessary to ensure a safe distance is maintained between the trajectory being confirmed and the already determined trajectory. Based on this, step S33 further includes:

[0108] While determining the relationship between the second distance between all the filtering trajectories in the at least one filtering trajectory and the second preset distance threshold, or after determining the relationship between the second distance between all the filtering trajectories in the at least one filtering trajectory and the second preset distance threshold, query the server to see if there is a determined trajectory, and determine the relationship between the determined trajectory and the second distance between the second and the second preset distance threshold between the second and the at least one filtering trajectory.

[0109] When the server has the determined trajectory, it determines the relationship between the second distance and the second preset distance threshold between all the filtered trajectories in at least one filtered trajectory and the determined trajectory, and generates the second risk information based on the relationship.

[0110] When the second distance between all selected trajectories in at least one selection trajectory and the determined trajectory is outside the second preset distance threshold (the second distance is greater than the second preset distance threshold), it is determined that all selected trajectories do not conflict with the determined trajectory, and second risk first sub-information is generated; when the second distance between all selected trajectories in at least one selection trajectory and the determined trajectory is within the second preset distance threshold (the second distance is less than or equal to the second preset distance threshold), it is determined that all selected trajectories conflict with the determined trajectory, and second risk second sub-information is generated; when the second distance between some selected trajectories in the at least one selection trajectory and the determined trajectory is outside the second preset distance threshold, and the second distance between some selected trajectories and the determined trajectory is within the second preset distance threshold, it is determined that there are both trajectories that do not conflict with the determined trajectory and trajectories that conflict with the determined trajectory among all selected trajectories, and second risk third sub-information is generated.

[0111] If the server does not have the determined trajectory, then proceed to step S4.

[0112] Specifically, step S4 includes the following steps:

[0113] Receive the user's instruction to select the second risk first sub-information, and determine the current trajectory to be confirmed as the current confirmed trajectory between the current target point and the current intersection point, or

[0114] Upon receiving the user's instruction to select the second risk sub-information, return and execute step S22 until at least one definite trajectory is obtained, i.e., repeat step S22 until one or more definite trajectories are obtained.

[0115] Optionally, step S4 further includes receiving an instruction from the user to select the second risk third sub-information, deleting the conflict trajectory, and continuing execution. If the deleted conflict trajectory is part of a plurality of unconfirmed trajectories, the currently undeleted unconfirmed trajectory is determined as the currently confirmed trajectory between the current confirmed target point and the current intersection point; if the deleted conflict trajectory is a confirmed trajectory, the currently unconfirmed trajectory is determined as the currently confirmed trajectory between the current confirmed target point and the current intersection point.

[0116] The user selects the first sub-information of the second risk, and the second sub-information of the second risk and the third sub-information of the second risk correspond to a third operation on the user interface. Therefore, embodiments of the present invention can obtain at least one determined trajectory in response to the third user interface operation performed by the user based on the second risk information.

[0117] In one example, the third operation can be indicated by selecting an option, or by selecting a trajectory, trajectory number, or trajectory index number displayed on the heatmap. In one example, steps S1-S4 can obtain one or more definite trajectories. When the number of definite trajectories obtained is less than the required number of trajectories, steps S1-S4 can be repeated until the required number of trajectories is obtained. The multiple definite trajectories are those that have a safe distance from the critical structure, do not conflict with each other, and do not conflict with the already confirmed trajectories.

[0118] The currently unconfirmed trajectory includes at least one low-risk trajectory from the at least one unconfirmed trajectory. The currently confirmed target point includes the at least one confirmed target point. The currently intersecting point includes at least one low-risk intersecting point from the at least one intersecting point. The currently determined trajectory includes the at least one determined trajectory.

[0119] In one example, when the first and / or second risk information is displayed to the user using a heatmap to indicate the risk level, the user can determine at least one of the target point, skull reference point area, and entry point based on the risk level, thereby facilitating more intuitive operation. The risk level includes low risk and high risk. Accordingly, in the heatmap, red represents high risk, and green represents low risk. Preferably, the heatmap can be presented as a schematic diagram that gradually changes from green to red. Of course, the heatmap in the embodiments of the present invention is not limited to this; those skilled in the art can set other colors or different shapes for different risks as needed, etc., as long as it can provide an intuitive risk indication.

[0120] Taking the first distance and the first preset distance threshold as examples, when the first distance is outside the first preset distance threshold, it indicates a low risk level, which is represented by green in the heat map; when the first distance is within the first preset distance threshold, it indicates a high risk level, which is represented by red in the heat map. The larger the value of the first distance, the darker the green color in the heat map; the smaller the value of the first distance, the darker the red color in the heat map.

[0121] In embodiments of the present invention, once the user determines the trajectory, the system calculates and displays relevant information about the trajectory. This information includes the trajectory length, the cranial implantation angle, whether the entry point is in the temporal lobe (if so, the temporalis muscle thickness at the entry point is provided), the trajectory gray matter sampling rate, and information about the intersection of the trajectory with the functional network boundary. Displaying this information allows the user to easily understand the trajectory, making the information more transparent and facilitating safer subsequent operations (e.g., electrode insertion).

[0122] In embodiments of the present invention, a readable storage medium is provided. The readable storage medium stores a program or instructions, which, when executed by a processor, implement the path planning method described in any of the above embodiments.

[0123] In embodiments of the present invention, "readable storage medium" refers to any medium that participates in providing a program or instructions to a processor for execution. The medium can take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical discs or magnetic disks, such as storage devices. Volatile media include dynamic memory, such as main memory. Transmission media include coaxial cables, copper wires, and optical fibers, including conductors containing buses. Transmission media can also take the form of acoustic or optical waves, such as acoustic or optical waves generated during radio frequency (RF) and infrared (IR) data communications. Common forms of readable storage media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic media, CD-ROMs, DVDs, any other optical media, punched cards, paper tape, any other physical media with a perforated pattern, RAM, PROMs and EPROMs, FLASH-EPROMs, any other memory chips or cartridges, carrier waves as described below, or any other medium from which a computer can read.

[0124] The path planning method and readable storage medium according to the present invention have at least one of the following advantages:

[0125] (1) The path planning method and readable storage medium of the present invention provide relevant risk information based on user interface operation to provide a reference for users to confirm the trajectory, eliminating the process that relies entirely on subjective experience and improving the safety of path planning.

[0126] (2) The path planning method and readable storage medium of the present invention assist users in path planning, shortening the path planning time. For example, the planning time for a single trajectory is shortened to about 15 seconds, thereby improving the efficiency of path planning and reducing the discomfort caused to patients due to the long planning process.

[0127] (3) The path planning method and readable storage medium of the present invention can provide corresponding trajectory information after the path trajectory is determined, such as trajectory length, implantation angle, gray matter sampling rate, whether the entry point is in the temporal lobe (entry point location, temporalis muscle thickness, trajectory and functional network intersection, etc., thereby making the information more transparent in the path planning process.

[0128] While some embodiments of the present general inventive concept have been shown and described, those skilled in the art will understand that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

Claims

1. A path planning method, comprising the following steps: Step S1 determines the target area and generates first risk information between multiple targets in the target area and the key structure based on the target area; Step S2: Based on the first risk information, obtain the confirmed target point among the multiple target points, and determine the skull reference point region based on the confirmed target point; Step S3: Construct a trajectory to be confirmed between the confirmed target point and the skull reference point region, and generate second risk information between the trajectory to be confirmed and the critical structure based on the trajectory to be confirmed. Step S4: Obtain the determined trajectory based on the second risk information; in, Step S2 further includes the following steps: Step S21: Determine the entry point region; Step S22: Obtain the line connecting the confirmed target point and the entry point based on the entry point in the confirmed target point and the entry point in the entry point region, and obtain the intersection of the line connecting the target point and the skull. The skull reference point region includes the intersection point, and the intersection point is different from the entry point, which is not located within the skull reference point region; in, Step S3 further includes: Step S31: Construct the trajectory to be confirmed based on the intersection point and the confirmed target point; Step S32: Based on the trajectory to be confirmed, obtain the first distance between it and the key structure; Step S33 determines the relationship between the first distance and the first preset distance threshold, and generates the second risk information.

2. The path planning method according to claim 1, wherein, The second risk information includes a second risk first sub-information for indicating the risk of ignoring the current trajectory to be confirmed, and a second risk second sub-information for indicating the deletion of the current intersection and the reselection of an intersection. Step S33 further includes: When the first distance is outside the first preset distance threshold, the second risk first sub-information is generated; When the first distance is within the first preset distance threshold, the second risk sub-information is generated.

3. The path planning method according to claim 2, wherein, Step S4 further includes: Receive the user's instruction to select the second risk first sub-information, and determine the current trajectory to be confirmed as the current confirmed trajectory between the current target point and the current intersection point, or Upon receiving the user's instruction to select the second risk sub-information, return and execute step S22 until the determined trajectory is obtained. The current trajectory to be confirmed includes the low-risk trajectory to be confirmed, the current confirmed target point includes the confirmed target point, the current intersection point includes the low-risk intersection point, and the current determined trajectory includes the determined trajectory.

4. The path planning method according to claim 2 or 3, wherein, Step S33 further includes: When it is determined that the first distance is outside the first preset distance threshold, at least one filtering trajectory is obtained; Determine the relationship between the second distance between all the filtering trajectories in the at least one filtering trajectory and the second preset distance threshold. When the second distance between any two filtering trajectories in the at least one filtering trajectory is outside the second preset distance threshold, it is determined that the two filtering trajectories do not conflict with each other. When the second distance between any two filtering trajectories in the at least one filtering trajectory is within the second preset distance threshold, it is determined that the two filtering trajectories conflict with each other.

5. The path planning method according to claim 4, wherein, When all the filtering trajectories in the at least one filtering trajectory are non-conflicting to each other, the second risk first sub-information is generated; When all the filtering trajectories in the at least one filtering trajectory are in conflict with each other, the second risk second sub-information is generated; When there are both non-conflicting and conflicting tracks among all the selected tracks in the at least one selection track, a second risk third sub-information is generated. The second risk third sub-information is used to indicate the deletion of the conflicting track and to execute step S4.

6. The path planning method according to claim 4, wherein, Step S33 further includes: While determining the relationship between the second distance and the second preset distance threshold among all the filter trajectories in the at least one filter trajectory, or after determining the relationship between the second distance and the second preset distance threshold among all the filter trajectories in the at least one filter trajectory, the server is queried to determine whether there is a determined trajectory, and the relationship between the determined trajectory and the second distance and the second preset distance threshold among all the filter trajectories in the at least one filter trajectory is determined. When the server has the determined trajectory, it determines the relationship between the second distance and the second preset distance threshold between all the filtered trajectories in the at least one filtered trajectory and the determined trajectory. If the server does not have the determined trajectory, then step S4 is executed.

7. The path planning method according to any one of claims 1-3, wherein, Step S1 further includes: Step S11: Based on the determined target area, obtain the third distance between the target point in the target area and the critical structure. Step S12 determines the relationship between the third distance and the third preset distance threshold to generate the first risk information.

8. The path planning method according to claim 7, wherein, The first risk information includes a first risk sub-information for indicating that the risk of the current target should be ignored, and a first risk second sub-information for indicating that the current target should be deleted and a new target should be selected. Step S12 further includes: When the third distance is outside the third preset distance threshold, the first risk first sub-information is generated. When the third distance is within the third preset distance threshold, the first risk second sub-information is generated.

9. The path planning method according to claim 8, wherein, Step S2 further includes: Receive the user's instruction to select the first risk sub-information, and determine the current target point as the currently confirmed target point, or Upon receiving the user's instruction to select the first risk second sub-information, return and re-execute step S11 until the confirmed target point is obtained. The currently confirmed target is a low-risk confirmed target.

10. The path planning method according to claim 8, wherein, Step S12 further includes: When the third distance is determined to be outside the third preset distance threshold, at least one target point to be screened is obtained from multiple target points, and the server is queried to see if a determined trajectory exists. When the server has a known trajectory, it determines the relationship between the fourth distance and the fourth preset distance threshold between all the target points to be screened and the known trajectory. When the fourth distance between the target point to be screened and the determined trajectory is outside the fourth preset distance threshold, it is determined that there is no conflict between the target point to be screened and the determined trajectory. When the fourth distance between the target point to be screened and the determined trajectory is within the range of the fourth preset distance threshold, it is determined that there is a conflict between the target point to be screened and the determined trajectory. When the server does not have the determined trajectory, step S2 is executed.

11. The path planning method according to claim 10, wherein, When all the target points to be screened do not conflict with the determined trajectory, the first risk first sub-information is generated; When all the target points to be screened conflict with the determined trajectory, the first risk second sub-information and / or the first risk fourth sub-information are generated. When all the target points to be screened have both non-conflicting and conflicting trajectories with the determined trajectories, the first risk third sub-information and / or the first risk fourth sub-information are generated. The first risk third sub-information is used to indicate that step S2 should be executed after deleting the conflicting target point, and the first risk fourth sub-information is used to indicate that step S2 should be executed after deleting the identified and conflicting trajectory.

12. The path planning method according to any one of claims 1-3, wherein, Step S1 further includes: Receive instructions to select the target region on the preprocessed image displayed in the user interface. The preprocessed image is at least one of a computed tomography (CT) image and a magnetic resonance imaging (MRI) image after image preprocessing. The image preprocessing includes the following steps: The computed tomography (CT) images and magnetic resonance imaging (MRI) images are registered to the space of T1-weighted magnetic resonance imaging; and Obtain the mask of the key structure; and / or Obtain a mask of the mid-plane between the left and right hemispheres; and / or Obtain vascular images after brain vascular image segmentation.

13. A readable storage medium, wherein, The readable storage medium stores a program or instructions that, when executed by a processor, perform the path planning method according to any one of claims 1-12.

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