Methods, devices, and systems for implanting a nerve stimulation electrode with a neural nucleus display

Abstract

The application provides a method, device and system for displaying an implanted nerve stimulation electrode and a nerve nucleus, wherein the method comprises: obtaining electrode position transformation data from an external device, the electrode position transformation data being obtained according to an electrode position displayed by a medical image of a patient's implanted electrode site; adjusting an initial position of an electrode model in the external device, and calculating data according to the adjusted electrode position and the initial position of the electrode model; using the electrode position transformation data and pre-stored initial position data of the electrode model of a programmed device to calculate transformed electrode model position data; and displaying the transformed electrode model and the nerve nucleus model in the same space.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more specifically to a method, apparatus, and system for implanting nerve stimulation electrodes and displaying neural nuclei. Background Technology

[0002] Neurostimulation therapy can be used to treat a variety of diseases. For example, deep brain stimulation is an effective treatment for Parkinson's disease, essential tremor, dystonia, obsessive-compulsive disorder, and other diseases. Vagus nerve stimulation can be used to treat epilepsy and suppress epileptic seizures. Similarly, there are spinal cord nerve stimulation therapy, sacral nerve stimulation therapy, and so on.

[0003] Neurostimulation therapy involves implanting a pulse generator, extension leads, and electrodes into the body. These are then controlled by an external device to deliver electrical pulses to specific areas, controlling disease symptoms. During stimulation, external devices are used to adjust stimulation parameters to achieve different effects. For example, adjusting the polarity of the contacts changes the stimulation location, while modifying the amplitude, pulse width, and frequency alters the range of influence.

[0004] After the device is implanted, it needs to be programmed by a doctor. To achieve the desired therapeutic effect and avoid side effects, electrode contacts near the target site need to be selected. Without imaging guidance, contact selection requires trial and error, which is time-consuming. Especially if directional electrodes are used, the number of contacts is twice that of ordinary ring electrodes, and the programming time is correspondingly increased.

[0005] In the central nervous system, the cell bodies of neurons aggregate to form nerve nuclei, and functionally similar nerve nuclei gather to form nerve clusters. Modeling nerve clusters and electrodes requires high-performance equipment, while the programming devices used by doctors need to be portable, which limits the performance of the equipment. Therefore, programming devices are difficult to achieve the above objectives. Summary of the Invention

[0006] In view of this, this application provides a method for implanting neural stimulation electrodes and displaying neural nuclei, the method being executed by an external programming device of an implantable neural stimulation device, the programming device pre-storing electrode models and neural nuclei models, the method comprising:

[0007] Electrode position transformation data is obtained from an external device. This data is obtained by adjusting the initial position of the electrode model in the external device based on the electrode position displayed in a medical image of the patient's implanted electrode site, and by calculating the data based on the adjusted electrode position and the initial position of the electrode model.

[0008] Using the electrode position transformation data and the initial position data of the electrode model pre-stored in the programmable device, the transformed electrode model position data is calculated.

[0009] The electrode model and the neural nucleus model after their positions have been changed are displayed in the same space.

[0010] Optionally, before displaying the electrode model after its position change and the neural nucleus model in the same space, the method further includes:

[0011] Nucleus transformation data is obtained from an external device. The nucleus transformation data is obtained by adjusting the initial position and / or initial morphology of the neural nucleus model in the external device and calculating the data based on the comparison between the adjusted neural nucleus model and the initial neural nucleus model.

[0012] The position and / or morphology of the pre-stored neural nucleus model are adjusted based on the nucleus transformation data.

[0013] Optionally, after displaying the electrode model and the neural nucleus model after their positions have been changed in the same space, the method further includes:

[0014] Responds to user adjustments to the position and / or angle of the displayed electrode and neural nucleus models.

[0015] Optionally, the adjustment operation includes rotating about any coordinate axis of the space and displacing on any coordinate axis.

[0016] Optionally, the electrode model has directional electrode contacts, and the adjustment operation includes rotating about the electrode model as an axis.

[0017] Optionally, the electrode position transformation data is obtained by selecting multiple reference points in the electrode model of an external device and obtaining their initial position information, adjusting the initial position of the electrode model according to the electrode position displayed in the medical image, obtaining the adjusted position information of the multiple reference points, and calculating a transformation matrix in combination with the initial position information; wherein, the multiple reference points come from at least two planes and include at least three non-collinear points.

[0018] The present invention also provides a programmable device, comprising: at least one processing unit, and a storage unit, an interaction unit, and a communication unit communicatively connected to the at least one processing unit; wherein, the storage unit stores instructions executable by the processing unit, the instructions being executed by the at least one processing unit to cause the at least one processing unit to perform the above-described display method, the communication unit being used to interact with an implantable neurostimulation device, and the interaction unit being used to display the electrode model and the neural nucleus model, and to acquire user adjustments to the displayed electrode model and the neural nucleus model.

[0019] The present invention also provides an implantable nerve stimulation electrode and nerve nucleus display system, comprising:

[0020] The aforementioned programmable control device; and

[0021] The computer and server are configured to acquire medical images of the implanted electrode sites on a patient, adjust the initial position of a pre-stored electrode model based on the electrode positions displayed in the medical images, and calculate electrode position transformation data for the electrode model based on the adjusted electrode positions and the initial positions; the server is configured to store the electrode position transformation data; and the programmable device obtains the electrode position transformation data from the server.

[0022] Optionally, the above system also includes:

[0023] The patient terminal is used to upload a license to the server for the use of the medical images and / or the electrode position change data;

[0024] When the server finds that the usage license exists, it allows the computer to download the medical image and / or allows the programmable device to download the electrode position change data.

[0025] Optionally, the programmable device is also used to schedule an appointment with the patient's terminal via a server. After the appointment time is determined, the device queries the server to see if the electrode position change data exists. If the data exists, the device automatically downloads the existing electrode position change data before the appointment time.

[0026] According to the implantable neurostimulation electrode and nerve nucleus display method provided by this invention, the programmable device is equipped with electrode models and nerve nucleus models. When it is necessary to display a model matching the patient, electrode positioning can be performed through an external device, and the positioning results can be converted into transformation data. The doctor only needs to use the programmable device to receive the transformation data and then transform the position of the electrode model. Thus, the programmable device can display the electrode and nucleus positions corresponding to the patient's actual condition, guiding the programmable settings and improving the convenience of programmable operation. Furthermore, the programmable device in this solution does not need to perform time-consuming and computationally intensive modeling and position calculation operations; it only needs to acquire electrode position transformation data to adjust the local model. This achieves a balance between device portability and performance, enabling real-time changes.

[0027] The data volume required for communication between the programmable control device and external equipment in this solution is small, enabling real-time transformations. While directly transmitting the coordinates of electrode or nucleus vertices after determining their positions allows for direct drawing, the large data volume and inconvenient uploading and downloading make practical use difficult. In this solution, the programmable control device predefines the original positions of the electrodes and nuclei, obtains the transformation matrix or vertex modification records through communication, and then performs electrode and nucleus transformations. This significantly reduces the amount of data requiring communication, while also reducing the computational load of the transformation operations, enabling real-time changes and display.

[0028] In an optional embodiment, the programmable device may also receive transformation data for the nucleus model, displaying a neural nucleus model that is more suitable for the patient's actual condition.

[0029] This solution offers a high degree of personalization in its display content, and further fine-tuning is possible in optional embodiments. Users can pan, rotate, and zoom the displayed results, viewing them from the overall picture to specific details, making it more personalized. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the programmable control device and the computer in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of two implanted nerve stimulation electrodes in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram showing the initial positions of the electrode model and nucleus model of the computer in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the transformed electrode model of the computer in an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the interface between the electrode model and the nucleus model of the programmable control device in an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the transformed neural nucleus model of the computer in an embodiment of the present invention;

[0037] Figure 7 This is another schematic diagram of the transformed neural nucleus model of the computer in this embodiment of the invention;

[0038] Figure 8 This is a schematic diagram of the interface between the directional electrode model and the nucleus model of the programmable control device in an embodiment of the present invention;

[0039] Figure 9 This is a flowchart of the display method executed by the programmable device in an embodiment of the present invention;

[0040] Figure 10This is a schematic diagram of an implanted nerve stimulation electrode and nerve nucleus display system according to an embodiment of the present invention. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] This application provides a method for implanting nerve stimulation electrodes and displaying nerve nuclei. The method is executed by an external control device of the implantable nerve stimulation device. The external control device can be operated by a doctor and can be a programmable device for various nerve stimulators such as vagus nerve stimulator, deep brain stimulator, spinal cord nerve stimulator, and sacral nerve stimulator.

[0044] like Figure 1 As shown, the programmable device 2 includes an interactive unit, such as a display screen, input keys, or a touch screen; a communication unit, such as wired communication and wireless communication devices like local area networks, Bluetooth, and near-field communication; a storage unit and a processing unit, which store and execute application programs to control the implantable neurostimulation device and, in this embodiment, perform related operations on the display electrode model and the neural nucleus model.

[0045] To achieve the purpose of the invention, the programmable device 2 executing this method has pre-stored electrode models and neural nucleus models. The electrode models include models of at least one type of electrode used in vagus nerve stimulation systems, deep brain stimulation systems, spinal nerve stimulation systems, and sacral nerve stimulation systems. The neural nucleus models include various neural nucleus models that serve as stimulation targets in different application scenarios for nerve stimulation systems (such as vagus nerve stimulation systems, deep brain stimulation systems, spinal nerve stimulation systems, and sacral nerve stimulation systems). The pre-stored electrode models and neural nucleus models are imported into the programmable device 2 before the device leaves the factory.

[0046] Common electrodes used in nerve stimulation systems include cylindrical electrodes and paddle electrodes. For example, Figure 2 Two types of cylindrical electrodes are shown, each with multiple contacts. The programmable device 2 can configure all or part of these contacts to output stimulation signals. The types of electrode contacts include ring electrode contacts and directional electrode contacts. Figure 2In the diagram, the right-hand electrode consists entirely of ring-shaped electrode contacts 22; the left-hand electrode has ring-shaped electrode contacts 22 at both the top and bottom, and two sets of contacts in the middle are directional electrode contacts 21. Of course, besides the differences in electrode shape and contacts, variations can be made in the number of contacts, their arrangement, and the spacing between them, resulting in various types of electrodes suitable for different stimulation systems and target sites. Therefore, the electrode model of this application also has several corresponding types.

[0047] The neural nucleus model in this application can be an ellipsoid or other predefined shape, simulating the neural nuclei of the human body. Since individual differences are generally small, the same predefined shape can be used, which is called a standard nucleus.

[0048] like Figure 3 As shown, electrode model 20 and neural nucleus model 30 can be generated using 3D editing software. As 3D models, electrode model 20 and neural nucleus model 30 possess information expressing their 3D spatial positions. This positional information serves as their initial position data during model generation. Correspondingly, the electrode model 20 and neural nucleus model 30 pre-stored in the programmable device 2 also include the model's initial position data. Figure 3 The image shows both a neural nucleus model 30 and an electrode model 20, both in their initial positions.

[0049] like Figure 1 As shown, in this application, an external device, such as a computer 1, is used in conjunction with the programmable control device 2. The computer 1 in this application also pre-stores the electrode model 20 and the neural nucleus model 30. Furthermore, the computer 1 can acquire medical images of the implanted electrode site on the patient, such as CT images, MRI images, or three-dimensional image data reconstructed based on these original images. These images can display the implanted electrodes and surrounding neural nuclei and other tissues within the patient's body. On the computer 1, the position of the electrode model 20 can be adjusted according to the electrode position displayed in the medical images, so that the position of the electrode model 20 corresponds to the actual implanted electrode position within the patient's body, such as... Figure 4 The position of the electrode model 20 shown is adjusted. This operation can be performed by the user or by an automatic registration algorithm. As a result, the adjusted position data of the electrode model 20 can be obtained on computer 1. By comparing this adjusted position data with the initial position data of the electrode model 20, the electrode position change data can be calculated.

[0050] The medical images in this embodiment are standardized images that have been processed. The actual nucleus positions and shapes of patients in the images are basically similar. Therefore, when the neural nucleus model 30 in this embodiment is generated, its initial position can be set to the general position of the actual nucleus in the standardized image. Thus, in this embodiment, the position and shape of the neural nucleus model 30 do not need to be adjusted.

[0051] In a preferred embodiment, the electrode position transformation data is a coordinate transformation matrix of multiple reference points. Specifically, computer 1 selects multiple reference points in the electrode model and obtains the initial position data of the reference points. In a specific embodiment, four reference points are selected on the electrode model. These reference points are not all in the same plane, and any three points are not on the same straight line. Then, based on the patient's medical images, the electrode model 20 is moved and rotated in space so that the position of the electrode model 20 matches the actual position of the electrode in the patient's body. After the adjustment is completed, the position data of each reference point of the electrode model 20 after the movement is recorded. The coordinate transformation matrix of the electrode can then be calculated using the reference point position data before and after the movement.

[0052] After obtaining the electrode position change data for electrode model 20, computer 1 can store the data locally or upload it to a server. In practical applications, an implantable neurostimulation device may have multiple electrodes in different implantation locations, resulting in multiple electrode position change data sets. Corresponding electrode numbers are required for storage and uploading. Furthermore, patient and doctor information can be added; patient information can include the serial number of the neurostimulation device implanted in the patient.

[0053] like Figure 9 As shown, the implanted neural stimulation electrode and neural nucleus display method executed by the programmable device 2 includes the following steps:

[0054] S1. Obtain the aforementioned electrode position change data from an external device. For example, based on the patient and doctor information provided by the user, obtain the corresponding electrode position change data from a server or computer.

[0055] S2, using the electrode position transformation data and the pre-stored initial position data of the electrode model, calculate the transformed electrode model position data;

[0056] S3 displays the electrode model and neural nucleus model after their positions have been changed in the same space. For example... Figure 5 As shown, the positional relationship between the electrode model and the nucleus model displayed by the programmable device 2 is consistent with the actual positional relationship between the electrode and the nucleus in the patient's body.

[0057] In another embodiment, if the morphology and position of the neural nuclei in the standardized image cannot correspond to the initial morphology and position of the pre-stored neural nuclei model 30 due to individual differences, image processing, or other reasons, the morphology and position of the neural nuclei model 30 can be adjusted.

[0058] Specifically, the computer 1 can also acquire nucleus transformation data for the neural nucleus model 30. This nucleus transformation data is calculated by comparing the adjusted neural nucleus model with the initial neural nucleus model 30 after adjusting its initial position and / or initial morphology.

[0059] For example, if it is believed that the patient's neural nuclei differ significantly from standard nuclei, the user can manually or automatically adjust the position and shape of the neural nucleus model 30 using computer 1 to better match the patient's actual condition. After adjustment, computer 1 calculates nucleus transformation data by comparing the adjusted neural nucleus model data with the initial neural nucleus model data.

[0060] For the transformation of the position and angle of the neural nucleus model, the method for calculating the electrode position transformation data can be analogous to that used for electrode model 20. A reference point is selected on the neural nucleus model 30 of computer 1, and then the coordinate transformation matrix of the neural nucleus is formed based on the coordinate transformation of the reference point. This will not be elaborated upon here. Figure 6 The position of the electrode model 20 shown is adjusted. In this embodiment, the shape of the neural nucleus model 30 is also changed, requiring adjustment based on its data structure. Specifically, the neural nucleus model 30 includes multiple planar graphic data, such as quadrilateral planes, triangular planes, or other polygonal planes; the planar graphic data includes the numbering and position information of each vertex of the plane, where the vertex position information is three-dimensional coordinates, and the user can adjust the vertex to change the shape of the nucleus. Therefore, in addition to the aforementioned coordinate transformation matrix of the neural nucleus, the nucleus transformation data also includes the adjusted planar graphic data. The programmable device 2 only needs to obtain the numbering and position information of the adjusted vertices, and combine this with the original neural nucleus model data to obtain the adjusted neural nucleus model. The adjusted effect is as follows... Figure 7 As shown, compared to Figure 4 As shown, the position, angle, and shape (protrusion) of the neural nucleus model 30 were adjusted.

[0061] Similar to the processing of electrode position change data, after the computer 1 obtains the nucleus change data for the neural nucleus model 30, it can store the data locally or upload the data to the server.

[0062] Therefore, if the position and / or morphology of the neural nucleus model 30 is adjusted, the procedure before step S3 also includes:

[0063] S01, Obtain nucleus transformation data from an external device.

[0064] S02, Adjust the position and / or morphology of the pre-stored neural nucleus model based on the nucleus transformation data.

[0065] Furthermore, after the programmable device 2 displays the transformed electrode model 20 and neural nucleus model 30, it also allows the user to fine-tune the displayed content. Specifically, after step S3, it further includes:

[0066] S4, responding to user adjustments to the position and / or angle of the displayed electrode model 20 and neural nucleus model 30, and responding to user adjustments to the morphology of the displayed neural nucleus model 30. For example... Figure 5 As shown, through the operation bar on the right, users can perform adjustment operations using corresponding buttons, including rotating and displacing on any coordinate axis in the display space; through the model display interaction bar on the left, users can adjust the model shape by stretching a part of the neural nucleus model 30. This adjustment can make the model data more consistent with the patient's actual situation.

[0067] For electrode models with directional electrode contacts, different orientations of the contacts have different meanings for the stimulation effect. To ensure that the positional relationships displayed by the programmable device 2 are consistent with the orientations of the contacts of the actual implanted electrodes in the patient's body, the user can also rotate the electrode model around an axis, such as... Figure 8 As shown, this is an electrode model with directional electrode contacts, which can be rotated as indicated by the arrows to change the orientation of the directional electrode contacts.

[0068] After the above-mentioned fine-tuning of the neural nucleus model 30 and adjustment of the electrode model 20, the programmable device 2 can upload these fine-tuning data and corresponding patient and doctor information to the server to update the previously stored transformation data. When other devices need to download data, they can obtain these fine-tuned electrode position transformation data and nucleus transformation data, without having to repeat the fine-tuning operation every time, thus further improving the efficiency of programmable control.

[0069] like Figure 10 As shown, the present invention also provides an implantable neural stimulation electrode and neural nucleus display system, comprising: a computer 1, a programmable control device 2, and a server 3. The programmable control device 2 is used to execute the display method in the above embodiments, and the computer 1 is used to generate the electrode position change data and nucleus change data, and upload them to the server 3; the user of the programmable control device 2 can download these data from the server 3 to their local machine at any time when needed.

[0070] In practical applications, considering that medical images and the aforementioned transformation data involve patient privacy, patient authorization is usually required for their use. Therefore, in a preferred embodiment, the system further includes a patient terminal 4. The patient terminal 4 is used to upload a license to the server 3 to use the medical images and / or the aforementioned transformation data. When the server 3 finds that a patient's license exists, it allows the computer 1 to download the medical images, and / or allows the programmable device 2 to download electrode position transformation data and nucleus transformation data.

[0071] For the functions of the above system, the programmable device 2 needs to establish a network connection with the server 3 to obtain various data. However, the programmable device 2 has many application scenarios, including clinics, wards, and even operating rooms, and not all environments necessarily have a network connection. To ensure the smooth execution of the above operations, in a preferred embodiment, data is obtained in the following manner:

[0072] The programmable device 2 schedules an appointment with the patient terminal 4 via the server 3. Specifically, the patient terminal 4 can initiate the appointment by sending the desired appointment time (subject to doctor's programmable control) and the appointment request to the server 3. The server 3 records the appointment time and sends it to the programmable device 2. After the doctor accepts the appointment time through the programmable device 2, he / she sends feedback to the server 3 and then to the patient terminal 4.

[0073] After determining the appointment time, the system checks server 3 for electrode position change data and / or nucleus change data specific to this patient. If the data exists, it is automatically downloaded before the appointment time, allowing for direct local access during program control, ensuring smooth execution of the display operation and improving program control efficiency. If the data does not exist, the system prompts the doctor to prepare accordingly. This system provides a convenient way to automatically download data in advance based on patient appointment information for offline display of personalized patient data, eliminating the need for doctors to download data beforehand.

[0074] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for implanting neural stimulation electrodes and displaying neural nuclei, characterized in that, The method is executed by an external programming device of an implantable neurostimulation device, the programming device having pre-stored electrode models and neural nucleus models, the method comprising: Electrode position transformation data is obtained from an external device. This data is obtained by adjusting the initial position of the electrode model in the external device based on the electrode position displayed in a medical image of the patient's implanted electrode site, and by calculating the data based on the adjusted electrode position and the initial position of the electrode model. Using the electrode position transformation data and the initial position data of the electrode model pre-stored in the programmable device, the transformed electrode model position data is calculated. Nucleus transformation data is obtained from an external device. The nucleus transformation data is obtained by adjusting the initial position and / or initial morphology of the neural nucleus model in the external device and calculating the data based on the comparison between the adjusted neural nucleus model and the initial neural nucleus model. The position and / or morphology of the pre-stored neural nucleus model are adjusted based on the nucleus transformation data; The electrode model and the neural nucleus model after their positions have been changed are displayed in the same space.

2. The method according to claim 1, characterized in that, After displaying the electrode model and the neural nucleus model in the same space after their positions have been changed, the method further includes: Responds to user adjustments to the position and / or angle of the displayed electrode and neural nucleus models.

3. The method according to claim 2, characterized in that, The adjustment operation includes rotating about any coordinate axis of the space and displacing on any coordinate axis.

4. The method according to claim 3, characterized in that, The electrode model has directional electrode contacts, and the adjustment operation includes rotating about the electrode model as an axis.

5. The method according to claim 1, characterized in that, The electrode position transformation data is obtained by selecting multiple reference points in the electrode model of an external device and acquiring their initial position information, adjusting the initial position of the electrode model according to the electrode position displayed in the medical image, obtaining the adjusted position information of the multiple reference points, and calculating a transformation matrix in combination with the initial position information; wherein, the multiple reference points come from at least two planes and include at least three non-collinear points.

6. A programmable control device, characterized in that, include: At least one processing unit, and a storage unit, an interaction unit, and a communication unit communicatively connected to the at least one processing unit; wherein the storage unit stores instructions executable by the at least one processing unit, the instructions being executed by the at least one processing unit to cause the at least one processing unit to perform the display method as described in any one of claims 1-5, the communication unit is used to interact with an implantable neurostimulation device, and the interaction unit is used to display the electrode model and the neural nucleus model, and to acquire user adjustments to the displayed electrode model and the neural nucleus model.

7. An implantable neural stimulation electrode and neural nucleus display system, characterized in that, include: The programmable control device as described in claim 6; as well as A computer and a server, wherein the computer is used to acquire medical images of the implanted electrode sites on a patient, adjust the initial position of a pre-stored electrode model according to the electrode positions displayed in the medical images, and calculate electrode position transformation data for the electrode model based on the adjusted electrode positions and the initial positions. The server is used to store the electrode position change data; The programmable device obtains the electrode position change data from the server.

8. The system according to claim 7, characterized in that, Also includes: The patient terminal is used to upload a license to the server for the use of the medical images and / or the electrode position change data; When the server finds that the usage license exists, it allows the computer to download the medical image and / or allows the programmable device to download the electrode position change data.

9. The system according to claim 7 or 8, characterized in that, The programmable device is also used to schedule a consultation time with the patient's terminal through the server. After the consultation time is determined, it queries the server to see if the electrode position change data exists. If the corresponding data exists, it automatically downloads the existing electrode position change data before the consultation time.

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