Path planning device, surgical system, and computer-readable storage medium

Abstract

The application provides a path planning device, a surgical system and a computer readable storage medium. The path planning device comprises a processor configured to plan a path for implanting an electrode lead into an intracranial of a patient, the planned path satisfying the following condition: if the electrode lead is implanted into the intracranial of the patient according to the path, the electrode lead can simultaneously form contact with a anterior limb of internal capsule and a nucleus accumbens of one side hemisphere of a brain of the patient; wherein the electrode lead is used to deliver electrical stimulation to the anterior limb of internal capsule and the nucleus accumbens. The path planned by the path planning device enables the electrode lead to simultaneously form contact with the anterior limb of internal capsule and the nucleus accumbens of one side hemisphere, so that the electrode lead can simultaneously deliver electrical stimulation to the anterior limb of internal capsule and the nucleus accumbens, and combined electrical stimulation treatment is achieved, which has a better treatment effect on diseases such as addictive behavior, depression and obsessive-compulsive disorder.

Description

Technical Field

[0001] This application relates to the technical field of implantable devices, and more particularly to pathway planning devices, surgical systems, and computer-readable storage media. Background Technology

[0002] With technological advancements and social progress, patients are eager to improve their quality of life through various treatments, among which implantable devices have a very broad application prospect. Implantable devices refer to medical devices that are surgically inserted entirely or partially into the human body or cavities (or openings), or used to replace the surface of the human epithelium or eye, and remain in the body for at least 30 days after the surgical procedure or are absorbed by the body. Stimulators are a type of implantable device. Stimulators typically include an IPG, extension leads, and electrode leads, providing patients with precise electrical stimulation therapy with controllable parameters, and are popular with many consumers in the market.

[0003] In recent years, deep brain stimulation (DBS) technology has been explored for relapse prevention in drug addiction treatment. However, the specific targets of DBS intervention in the brain, the compatibility between DBS devices and targets, and the mode of DBS stimulation output are still unclear or unexplored areas.

[0004] Patent CN111588463A discloses a method, apparatus, and storage medium for determining a surgical plan. The method includes: acquiring an image of the target object's tissue; acquiring an image of the target object's white matter fiber bundles; fusing the tissue image and the white matter fiber bundle image to obtain a fused object image; and displaying the fused object image, wherein the fused object image includes both tissue image content and white matter fiber bundle image content, to plan a surgical path based on the combined content of the tissue image and the white matter fiber bundle image. This method does not limit the specific path planned.

[0005] Based on this, this application provides a path planning device, a surgical system, and a computer-readable storage medium to solve the problems existing in the prior art. Summary of the Invention

[0006] The purpose of this application is to provide a path planning device, a surgical system, and a computer-readable storage medium for planning the implantation path of electrode leads so that the electrode leads can provide combined electrical stimulation to the nucleus accumbens and the anterior limb of the internal capsule.

[0007] The objective of this application is achieved through the following technical solution:

[0008] In a first aspect, this application provides a route planning apparatus, the route planning apparatus including a processor, the processor being configured to:

[0009] The planned path for implanting the electrode wire into the patient's brain satisfies the following condition: if the electrode wire is implanted into the patient's brain according to the planned path, the electrode wire can simultaneously make contact with the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain.

[0010] The electrode wires are used to deliver electrical stimulation to the anterior limb of the internal capsule and the nucleus accumbens.

[0011] The beneficial effects of this technical solution are as follows: By planning a specific implantation path for the electrode lead and implanting it into one hemisphere of the patient's brain (e.g., the left or right hemisphere) according to this path, combined electrical stimulation can be delivered to the nucleus accumbens and the anterior limb of the internal capsule in that hemisphere for treatment. The path planned by this device allows the electrode lead to simultaneously make contact with both the anterior limb of the internal capsule and the nucleus accumbens in one hemisphere. This enables the electrode lead to deliver electrical stimulation to both the anterior limb of the internal capsule and the nucleus accumbens simultaneously, achieving combined electrical stimulation therapy. In the field of DBS, doctors previously only targeted one specific brain tissue for electrical stimulation. Therefore, even if an electrode lead had multiple electrode pads after implantation, these pads were used to deliver electrical stimulation to the same brain tissue (nucleus), preventing simultaneous delivery of electrical stimulation to multiple brain tissues, and making it impossible to perform combined electrical stimulation therapy on two specific brain tissues (i.e., the anterior limb of the internal capsule and the nucleus accumbens). The path planning device provided in this application can plan the implantation path of the electrode wire, so that after the electrode wire is implanted into the patient's brain, it can perform combined electrical stimulation therapy on the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the brain, which has a better therapeutic effect on addictive behaviors, depression and obsessive-compulsive disorder.

[0012] In some possible implementations, the contact between the electrode wire and the anterior limb of the internal capsule and the nucleus accumbens means that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside.

[0013] The patient's illness includes one or more of the following mental illnesses: depression, bipolar disorder, anxiety disorder, post-traumatic stress disorder, obsessive-compulsive disorder, behavioral disorder, mood disorder, memory disorder, mental state disorder, substance addiction, and autism.

[0014] The beneficial effects of this technical solution are: it allows the electrode wires to pass through the anterior limb of the internal capsule and the nucleus accumbens in a specific direction, and the combined electrical stimulation of the anterior limb of the internal capsule and the nucleus accumbens can be used to treat specific types of diseases, such as various mental illnesses, which can effectively alleviate the patient's condition and even cure the disease.

[0015] In some possible implementations, the processor is further configured to plan the path in the following manner:

[0016] Acquire imaging data of the patient's brain, including magnetic resonance imaging data and / or CT imaging data;

[0017] Based on the image data, the extreme points of the ventral contour of the nucleus accumbens are located to obtain the location data of the extreme points.

[0018] Based on the location data of the extreme point, a path is planned to implant the electrode wire into the patient's skull, so that the straight line of the path passes through the extreme point from top to bottom, from front to back, and from outside to inside.

[0019] The beneficial effect of this technical solution is that it uses image data to locate the extreme point of the ventral contour of the nucleus accumbens, and uses this extreme point to plan the implantation path of the electrode wire, so that the straight line of the planned path passes through the extreme point.

[0020] In some possible implementations, the processor is further configured to locate the line in the following manner:

[0021] Based on the image data, the set point of the anterior limb of the internal capsule is located to obtain the positioning data of the set point;

[0022] Based on the positioning data of the set point and the positioning data of the extreme point, the straight line is positioned so that the straight line passes through the set point and the extreme point.

[0023] The beneficial effects of this technical solution are as follows: by using the set point of the anterior limb of the internal capsule and the extreme point of the nucleus accumbens to form a constraint on the path, the implantation path of the electrode wire is planned in a two-point-one-line manner, so that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens in sequence during the implantation process from top to bottom, from front to back, and from outside to inside.

[0024] In some possible implementations, the processor is further configured to locate the setpoint of the anterior limb of the internal capsule in the following manner:

[0025] Based on the image data, the segmentation result of the anterior limb of the internal capsule is obtained, and the segmentation result of the anterior limb of the internal capsule is used to indicate multiple regions of the anterior limb of the internal capsule.

[0026] Based on the projection relationship between each region and the prefrontal cortex, one region is identified as the target region so that the white matter fiber bundles running in the target region can project to the target prefrontal cortex, wherein the target prefrontal cortex refers to the prefrontal cortex associated with the patient's disease.

[0027] Locate the set point of the anterior limb of the internal capsule within the target region.

[0028] The beneficial effects of this technical solution are as follows: the segmentation results of the anterior limb of the internal capsule are obtained using image data, and the set point of the anterior limb of the internal capsule is located using the segmentation results of the anterior limb of the internal capsule. When the implantation path passes through the set point, the electrode wire can release electrical stimulation energy to the contact part (i.e., the target area) with the anterior limb of the internal capsule. This energy is projected to the target prefrontal cortex through the white matter fiber bundles of the target area, and precisely acts on the specific prefrontal cortex associated with the patient's disease, thereby achieving precise treatment of mental illnesses.

[0029] In some possible implementations, the processor is further configured to locate the line in the following manner:

[0030] The straight line is made to lie in the reference plane, and the acute angle formed by the straight line and any cross-section of the brain is a second preset angle.

[0031] The reference plane satisfies the following conditions: the extreme point is within the reference plane, and the acute angle formed by the reference plane and any sagittal plane of the brain is a first preset angle, and the normal of the reference plane is parallel to any coronal plane of the brain.

[0032] The beneficial effect of this technical solution is that the straight line of the path lies within a specific reference plane and forms a specific acute angle (i.e., a second preset angle) with any cross-section of the brain. The reference plane must meet several conditions: not only must the extreme point be within the reference plane, but the reference plane must also form a specific acute angle (i.e., a first preset angle) with any sagittal plane, and the normal of the reference plane must be parallel to the coronal plane; that is, the projection of the reference plane onto the coronal plane is a straight line. Thus, the straight line of the planned path can pass through the anterior limb of the internal capsule and the nucleus accumbens along a specific direction and at a specific angle. Therefore, electrode leads implanted along this path can pass through the anterior limb of the internal capsule and the nucleus accumbens along a specific direction and at a specific angle, achieving combined electrical stimulation therapy targeting these two brain tissues.

[0033] In some possible implementations, the first preset angle is not less than 5 degrees and not more than 85 degrees, and the second preset angle is not less than 15 degrees and not more than 90 degrees.

[0034] The beneficial effect of this technical solution is that, since the brain structure varies from person to person, the first and second preset angles can be selected within a relatively wide range of values, as long as they can be used to perform combined electrical stimulation on the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain.

[0035] In some possible implementations, the first preset angle is not less than 15 degrees and not more than 45 degrees, and the second preset angle is not less than 40 degrees and not more than 85 degrees.

[0036] The beneficial effects of this technical solution are as follows: Although everyone's brain structure is different, the brain structures of most people are relatively similar. From a probabilistic point of view, a more precise angle range can be used to quickly determine the direction of the implantation path, which is sufficient to deal with the general situation of most people. For a very small number of people whose brain structures are significantly different from those of ordinary people, a wider range can be used as an alternative to help doctors plan the path for implanting electrode leads for these few people.

[0037] In some possible implementations, the processor is further configured to determine the first preset angle and the second preset angle in the following manner:

[0038] Based on the image data, the set point of the anterior limb of the internal capsule is located to obtain the positioning data of the set point;

[0039] Based on the positioning data of the set point and the positioning data of the extreme point, the first preset angle and the second preset angle are determined.

[0040] The beneficial effects of this technical solution are as follows: before determining the implantation path using the first preset angle, the second preset angle, and the extreme point, the set point of the anterior limb of the internal capsule and the extreme point of the nucleus accumbens are used as constraints, which greatly narrows the range of the first preset angle and the second preset angle, and greatly narrows the range of the implantation path of the electrode wire during the implantation process. In particular, when the first preset angle and the second preset angle can be taken in a relatively wide range of values, the amount of data for calculating all feasible solutions of the first preset angle and the second preset angle can be greatly reduced.

[0041] In some possible implementations, the processor is further configured to locate the extreme points of the ventral contour of the accumbens core in the following manner:

[0042] Based on the image data, a reference point is located, and a two-dimensional image of the brain corresponding to the reference point is generated. The two-dimensional image of the brain corresponding to the reference point includes one or more of the following: a coronal two-dimensional image, a sagittal two-dimensional image, and a transverse two-dimensional image.

[0043] The extreme points of the ventral contour of the nucleus accumbens are located using a two-dimensional image of the brain corresponding to the reference point.

[0044] The beneficial effects of this technical solution are as follows: Using image data, reference points can be located, such as the anterior commissure, posterior commissure, or the midpoint between the two. After locating the reference point, the corresponding coronal, sagittal, and transverse planes of the brain can be located, i.e., the coronal plane (in other words, the reference point is within the coronal plane), sagittal plane, and transverse plane passing through the reference point. One or more two-dimensional images corresponding to the coronal, sagittal, and transverse planes can be generated using the three-dimensional image data. Since the ventral contour of the nucleus accumbens presents a parabolic shape in the aforementioned two-dimensional images (the parabola opens upwards and outwards), the extreme points of the ventral contour of the nucleus accumbens can be located. Furthermore, this step of locating extreme points can be achieved using intelligent recognition or manual calibration. For doctors, this method of locating extreme points is very intuitive and can be quickly calibrated based on experience. Using intelligent recognition, edge detection algorithms and / or image segmentation algorithms can also be used to quickly identify the contour of the nucleus accumbens, thereby locating the extreme points of its ventral contour. The path planning device provided in this application generates a two-dimensional image using reference points and uses the two-dimensional image to locate extreme points. This method of locating extreme points is simple in calculation, has a small amount of computation, is fast in calculation, and consumes less computational resources.

[0045] In some possible implementations, the reference point is the midpoint of the line connecting the anterior and posterior commissures of the brain; or,

[0046] The reference point is the anterior commissure of the brain; or...

[0047] The reference point is the posterior commissure of the brain.

[0048] The advantages of this technical solution are: using the midpoint of the line connecting the anterior and posterior commissures, or the anterior and posterior commissures, as a reference point, it is simple and easy to implement, regardless of whether intelligent recognition or manual calibration is used. For doctors, this method of locating reference points is very intuitive and can be quickly calibrated based on experience. Using intelligent recognition, edge detection algorithms can also be used to quickly obtain the outline of the entire brain and locate the anterior and posterior commissures, thereby pinpointing the reference point.

[0049] In some possible implementations, the processor is further configured to locate the extreme points of the ventral contour of the accumbens core in the following manner:

[0050] Receive adjustment operations for each of the two-dimensional images, and in response to the adjustment operations, adjust one or more of the following parameters of the two-dimensional images: brightness, contrast, saturation, exposure, hue, grayscale, and scaling.

[0051] The extreme points of the ventral contour of the nucleus accumbens are located using the adjusted two-dimensional image.

[0052] The beneficial effects of this technical solution are as follows: doctors can manually adjust the parameters of the two-dimensional image, which can change the display effect of the two-dimensional image, thereby facilitating the identification of extreme points. This application does not limit the parameters that can be adjusted; for example, it can be one or more of multiple parameters that affect the display effect. Clearly, adjusting one or more of these parameters can make the ventral contour of the nucleus accumbens more prominent and clear (or in other words, higher contrast), thus making the located extreme points more accurate and reliable, faster, and more efficient, thereby improving the overall efficiency of path planning.

[0053] In some possible implementations, the adjustment operation is an operation to adjust a parameter curve, and the adjustment operation is used to adjust the brightness, contrast, or grayscale of the two-dimensional image; or,

[0054] The adjustment operation is an operation of adjusting the parameter progress bar. This adjustment operation is used to adjust the brightness, contrast, saturation, exposure, hue, grayscale, and scaling ratio of the two-dimensional image; or...

[0055] The adjustment operation is an operation to adjust parameter values. The adjustment operation is used to adjust the brightness, contrast, saturation, exposure, hue, grayscale and scaling ratio of the two-dimensional image.

[0056] The beneficial effects of this technical solution are: it allows doctors to adjust brightness or contrast by adjusting parameter curves, or to adjust multiple parameters by adjusting parameter progress bars, or to adjust multiple parameters by adjusting parameter values. This allows doctors to choose the method of parameter adjustment according to their own preferences to quickly adjust the display effect of two-dimensional images and further improve path planning efficiency.

[0057] In some possible implementations, the processor is further configured to locate the extreme points of the ventral contour of the accumbens core in the following manner:

[0058] Based on the image data, a three-dimensional model of the patient's brain is generated;

[0059] The extreme points of the ventral contour of the nucleus accumbens are located using the three-dimensional model.

[0060] The beneficial effects of this technical solution are as follows: It utilizes image data to generate a three-dimensional model of the brain, and then uses this model to locate extreme points. The location of extreme points can be achieved through intelligent recognition or manual calibration. When manual calibration is used, compared to image data and two-dimensional images, the three-dimensional model offers stronger visualization, allowing doctors to more easily and quickly locate the extreme points. When intelligent recognition is used, compared to image data and two-dimensional images (which require interpolation algorithms to complete the data before finding extreme points), the three-dimensional model has a continuous shape (or contour), eliminating the need for data completion and enabling rapid calculation of extreme points. Furthermore, it involves less computation, faster calculation speed, higher computational efficiency, and consumes fewer computational resources.

[0061] In some possible implementations, the processor is further configured to plan the path in the following manner:

[0062] Based on the image data, a three-dimensional model of the patient's brain is generated;

[0063] The three-dimensional model is displayed using a display device. The three-dimensional model includes the three-dimensional structure of the nucleus accumbens and the three-dimensional structure of the anterior limb of the internal capsule.

[0064] Receive a path planning operation using an interactive device, and plan the path in response to the path planning operation.

[0065] The beneficial effect of this technical solution is that the nucleus accumbens and the anterior limb of the internal capsule can be displayed simultaneously in the three-dimensional model. Doctors can design the surgical path based on the three-dimensional structure of the two target points (i.e., the nucleus accumbens and the anterior limb of the internal capsule).

[0066] Secondly, this application provides a path planning method, the method comprising:

[0067] The planned path for implanting the electrode wire into the patient's brain satisfies the following condition: if the electrode wire is implanted into the patient's brain according to the planned path, the electrode wire can simultaneously make contact with the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain.

[0068] The electrode wires are used to deliver electrical stimulation to the anterior limb of the internal capsule and the nucleus accumbens.

[0069] In some possible implementations, the contact between the electrode wire and the anterior limb of the internal capsule and the nucleus accumbens means that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside.

[0070] The patient's illness includes one or more of the following mental illnesses: depression, bipolar disorder, anxiety disorder, post-traumatic stress disorder, obsessive-compulsive disorder, behavioral disorder, mood disorder, memory disorder, mental state disorder, substance addiction, and autism.

[0071] In some possible implementations, the planned path for implanting the electrode leads into the patient's skull includes:

[0072] Acquire imaging data of the patient's brain, including magnetic resonance imaging data and / or CT imaging data;

[0073] Based on the image data, the extreme points of the ventral contour of the nucleus accumbens are located to obtain the location data of the extreme points.

[0074] Based on the location data of the extreme point, a path is planned to implant the electrode wire into the patient's skull, so that the straight line of the path passes through the extreme point from top to bottom, from front to back, and from outside to inside.

[0075] In some possible implementations, the positioning process of the straight line includes:

[0076] Based on the image data, the set point of the anterior limb of the internal capsule is located to obtain the positioning data of the set point;

[0077] Based on the positioning data of the set point and the positioning data of the extreme point, the straight line is positioned so that the straight line passes through the set point and the extreme point.

[0078] In some possible implementations, locating the set point of the anterior limb of the internal capsule based on the image data includes:

[0079] Based on the image data, the segmentation result of the anterior limb of the internal capsule is obtained, and the segmentation result of the anterior limb of the internal capsule is used to indicate multiple regions of the anterior limb of the internal capsule.

[0080] Based on the projection relationship between each region and the prefrontal cortex, one region is identified as the target region so that the white matter fiber bundles running in the target region can project to the target prefrontal cortex, wherein the target prefrontal cortex refers to the prefrontal cortex associated with the patient's disease.

[0081] Locate the set point of the anterior limb of the internal capsule within the target region.

[0082] In some possible implementations, the positioning process of the straight line includes:

[0083] The straight line is made to lie in the reference plane, and the acute angle formed by the straight line and any cross-section of the brain is a second preset angle.

[0084] The reference plane satisfies the following conditions: the extreme point is within the reference plane, and the acute angle formed by the reference plane and any sagittal plane of the brain is a first preset angle, and the normal of the reference plane is parallel to any coronal plane of the brain.

[0085] In some possible implementations, the first preset angle is not less than 5 degrees and not more than 85 degrees, and the second preset angle is not less than 15 degrees and not more than 90 degrees.

[0086] In some possible implementations, the first preset angle is not less than 15 degrees and not more than 45 degrees, and the second preset angle is not less than 40 degrees and not more than 85 degrees.

[0087] In some possible implementations, the process of determining the first preset angle and the second preset angle includes:

[0088] Based on the image data, the set point of the anterior limb of the internal capsule is located to obtain the positioning data of the set point;

[0089] Based on the positioning data of the set point and the positioning data of the extreme point, the first preset angle and the second preset angle are determined.

[0090] In some possible implementations, locating the extreme points of the ventral contour of the nucleus accumbens based on the image data includes:

[0091] Based on the image data, a reference point is located, and a two-dimensional image of the brain corresponding to the reference point is generated. The two-dimensional image of the brain corresponding to the reference point includes one or more of the following: a coronal two-dimensional image, a sagittal two-dimensional image, and a transverse two-dimensional image.

[0092] The extreme points of the ventral contour of the nucleus accumbens are located using a two-dimensional image of the brain corresponding to the reference point.

[0093] In some possible implementations, the reference point is the midpoint of the line connecting the anterior and posterior commissures of the brain; or,

[0094] The reference point is the anterior commissure of the brain; or...

[0095] The reference point is the posterior commissure of the brain.

[0096] In some possible implementations, locating the extreme points of the ventral contour of the nucleus accumbens using a two-dimensional image of the brain corresponding to the reference point includes:

[0097] Receive adjustment operations for each of the two-dimensional images, and in response to the adjustment operations, adjust one or more of the following parameters of the two-dimensional images: brightness, contrast, saturation, exposure, hue, grayscale, and scaling.

[0098] The extreme points of the ventral contour of the nucleus accumbens are located using the adjusted two-dimensional image.

[0099] In some possible implementations, the adjustment operation is an operation to adjust a parameter curve, and the adjustment operation is used to adjust the brightness, contrast, or grayscale of the two-dimensional image; or,

[0100] The adjustment operation is an operation of adjusting the parameter progress bar. This adjustment operation is used to adjust the brightness, contrast, saturation, exposure, hue, grayscale, and scaling ratio of the two-dimensional image; or...

[0101] The adjustment operation is an operation to adjust parameter values. The adjustment operation is used to adjust the brightness, contrast, saturation, exposure, hue, grayscale and scaling ratio of the two-dimensional image.

[0102] In some possible implementations, locating the extreme points of the ventral contour of the nucleus accumbens based on the image data includes:

[0103] Based on the image data, a three-dimensional model of the patient's brain is generated;

[0104] The extreme points of the ventral contour of the nucleus accumbens are located using the three-dimensional model.

[0105] In some possible implementations, the planned path for implanting the electrode leads into the patient's skull includes:

[0106] Based on the image data, a three-dimensional model of the patient's brain is generated;

[0107] The three-dimensional model is displayed using a display device. The three-dimensional model includes the three-dimensional structure of the nucleus accumbens and the three-dimensional structure of the anterior limb of the internal capsule.

[0108] Receive a path planning operation using an interactive device, and plan the path in response to the path planning operation.

[0109] Thirdly, this application provides a surgical system, the surgical system comprising:

[0110] Any of the above-mentioned path planning devices, wherein the path planning device is used to plan the path for implanting electrode wires into the patient's cranium;

[0111] A surgical device for performing a procedure to implant the electrode wires into the patient's skull along the said path, such that the electrode wires make contact with the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain;

[0112] The electrode wires are used to deliver electrical stimulation to the anterior limb of the internal capsule and the nucleus accumbens.

[0113] The beneficial effect of this technical solution is that it allows for the implantation of electrode wires into the patient's skull via a surgical device, following a planned path.

[0114] In some possible implementations, the contact between the electrode wire and the anterior limb of the internal capsule and the nucleus accumbens means that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside.

[0115] The patient's illness includes one or more of the following mental illnesses: depression, bipolar disorder, anxiety disorder, post-traumatic stress disorder, obsessive-compulsive disorder, behavioral disorder, mood disorder, memory disorder, mental state disorder, substance addiction, and autism.

[0116] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the functions of any of the above-described path planning devices or the steps of any of the above-described path planning methods. Attached Figure Description

[0117] The present application will be further described below with reference to the accompanying drawings and embodiments.

[0118] Figure 1 A structural block diagram of a surgical system provided in this application is shown.

[0119] Figure 2 A flowchart illustrating a path planning method provided in this application is shown.

[0120] Figure 3 A flowchart illustrating a path planning method provided in this application is shown.

[0121] Figure 4 A portion of a two-dimensional image of the coronal plane of a brain, as provided in this application, is shown.

[0122] Figure 5 A schematic diagram of a process for locating extreme points provided in this application is shown.

[0123] Figure 6 A schematic diagram of another process for locating extreme points provided in this application is shown.

[0124] Figure 7 A schematic diagram of another method for locating extreme points provided in this application is shown.

[0125] Figure 8 A flowchart illustrating another planning path provided in this application is shown.

[0126] Figure 9 This illustration shows a structural diagram of the brain from a coronal view, as provided in this application.

[0127] Figure 10 This illustration shows a structural diagram of the brain from a sagittal plane perspective, as provided in this application.

[0128] Figure 11 This application provides a spatial relationship diagram of a second preset angle and a third preset angle.

[0129] Figure 12 A structural block diagram of a path planning device provided in this application is shown.

[0130] Figure 13 A schematic diagram of the structure of a program product for implementing a path planning method provided in this application is shown.

[0131] Figure 14 A schematic diagram of the structure of an anterior limb of the internal capsule provided in this application is shown. Detailed Implementation

[0132] The technical solutions in this application will be described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0133] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, a and b, a and c, b and c, a and b and c, where a, b, and c can be single or multiple. It is worth noting that "at least one" can also be interpreted as "one or more".

[0134] It should also be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any implementation or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other implementations or design options. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0135] In this application, the terms "upper," "lower," "front," "back," "outer," and "inner" are defined using anatomical concepts. Anatomical orientation is a standard term used in anatomy to describe the relative positions and directions of movement of human organs, based on the standard anatomical posture with both hands placed at the sides of the body and palms facing forward.

[0136] The following is a list of some anatomical terms, most of which will appear in the text below.

[0137] Anatomical planes of the human body: sagittal plane, transverse plane (also known as horizontal plane), and coronal plane.

[0138] In human anatomy, the following directional terms have the following meanings:

[0139] Upper: Closest to the head. When describing the limbs, it is also called the proximal side. In the foot, it is also called the dorsal side.

[0140] Below: near the feet. When describing the limbs, it is also called the distal side. In the foot, it is also called the plantar side.

[0141] Front: Close to the abdomen. On the palm, also called the palmar side.

[0142] Back: Near the back. On the palm, it is also called the dorsal side.

[0143] Medial side: Closest to the midsagittal plane. When describing the forearm, it is also called the ulnar side; when describing the lower leg, it is also called the tibial side.

[0144] Lateral: The side furthest from the midsagittal plane. When describing the forearm, it is also called the radial side; when describing the lower leg, it is also called the fibular side.

[0145] Proximal or proximal: The part of the limbs that is close to the trunk.

[0146] Distal or distal: The part of the limbs that is far from the trunk.

[0147] When describing local organs, there are also:

[0148] Inside: close to the inner cavity.

[0149] External: far from the internal cavity.

[0150] Shallow: close to the body or surface.

[0151] Deep: far from the body or surface.

[0152] Below, we will first briefly describe the application areas of this application.

[0153] Implantable neurostimulation systems mainly consist of a stimulator implanted in the patient's body and a programmed device placed outside the patient's body. Current neuromodulation techniques primarily involve stereotactic surgery to implant electrodes into specific structures (target sites) within the body. The stimulator implanted in the patient then delivers electrical pulses to the target sites via these electrodes, modulating the electrical activity and function of the corresponding neural structures and networks, thereby improving symptoms and alleviating pain. The stimulator can be any of the following: an implantable neurostimulation device, an implantable cardiac stimulation system (also known as a pacemaker), an implantable drug delivery system (IDS), or a lead adapter. Implantable neurostimulation devices include deep brain stimulation (DBS), cortical nerve stimulation (CNS), spinal cord stimulation (SCS), sacral nerve stimulation (SNS), and vagus nerve stimulation (VNS).

[0154] The stimulator may include an IPG (implantable pulse generator), extension leads, and electrode leads. The IPG is placed inside the patient's body and provides controllable electrical stimulation energy to the tissues using a sealed battery and circuitry. Through the implanted extension leads and electrode leads, one or two controllable electrical stimuli are delivered to specific areas of the tissue. The extension leads, used in conjunction with the IPG, act as a medium for transmitting the electrical stimulation signal, conveying the signal to the electrode leads. The electrode leads deliver electrical stimulation to specific areas of the tissue through multiple electrode contacts. The stimulator has one or more electrode leads on one or both sides, each with multiple electrode contacts arranged uniformly or non-uniformly around the circumference of the leads. As an example, the electrode contacts may be arranged in a 4x3 array (a total of 12 contacts) around the circumference of the leads. The electrode contacts may include stimulating electrode contacts and / or collecting electrode contacts. The electrode contacts may be in shapes such as sheet-like, ring-like, or dot-like.

[0155] In some possible implementations, the stimulated tissue can be the patient's brain tissue, and the stimulated site can be a specific area of ​​the brain tissue. Generally, the stimulated site differs depending on the patient's disease type, as do the number of stimulation contacts (single-source or multi-source), the use of one or more specific electrical stimulation signals (single-channel or multi-channel), and the stimulation parameter data. This application does not limit the applicable disease type; it can be any disease type applicable to deep brain stimulation (DBS), spinal cord stimulation (SCS), pelvic stimulation, gastric stimulation, peripheral nerve stimulation, or functional electrical stimulation. DBS can be used to treat or manage a range of conditions, including but not limited to: spastic disorders (e.g., epilepsy), pain, migraines, mental illnesses (e.g., major depressive disorder (MDD)), bipolar disorder, anxiety disorders, post-traumatic stress disorder, mild depression, obsessive-compulsive disorder (OCD), behavioral disorders, mood disorders, memory disorders, mental state disorders, movement disorders (e.g., essential tremor or Parkinson's disease), Huntington's disease, Alzheimer's disease, substance addiction, autism, or other neurological or psychiatric disorders and impairments. When used to treat substance addiction, DBS can help addicts overcome addiction and improve their well-being and quality of life.

[0156] In this application, when the programmable device and the stimulator establish a programmable connection, the programmable device can be used to adjust the stimulation parameters of the stimulator (different stimulation parameters correspond to different electrical stimulation signals), and the stimulator can also sense the bioelectrical activity in the deep brain of the patient, and the stimulation parameters of the electrical stimulation signal of the stimulator can be further adjusted based on the sensed bioelectrical activity.

[0157] Programmable devices can be either doctor-controlled or patient-controlled.

[0158] This application does not restrict the data interaction between the doctor's programmer and the stimulator. When the doctor programs remotely, the doctor's programmer can interact with the stimulator through the server and the patient's programmer. When the doctor programs in person with the patient, the doctor's programmer can interact with the stimulator through the patient's programmer, and the doctor's programmer can also interact directly with the stimulator.

[0159] The patient programmer can include a host (communicating with the server) and a slave unit (communicating with the stimulator), which can be connected communicatively. The doctor programmer can interact with the server via 3G / 4G / 5G networks, the server can interact with the host via 3G / 4G / 5G networks, the host can interact with the slave unit via Bluetooth / Wi-Fi / USB protocols, the slave unit can interact with the stimulator via the 401MHz-406MHz / 2.4GHz-2.48GHz operating frequency band, and the doctor programmer can directly interact with the stimulator via the 401MHz-406MHz / 2.4GHz-2.48GHz operating frequency band.

[0160] The background of this invention will be introduced below.

[0161] Drug abuse and dependence are significant social problems worldwide, resulting in a high demand for drug addiction treatment in all countries. Basic treatment for drug addiction includes detoxification and relapse prevention. Currently, existing treatments are effective at detoxification, but they are ineffective at addressing the psychological dependence caused by drugs and cannot effectively prevent relapse. Patients often fall into a vicious cycle of "drug use-detoxification-relapse." The key to preventing relapse lies in effectively suppressing the addict's psychological craving for drugs.

[0162] The inventors' research indicates that the reward circuit of the mesolimbic-cortical system is closely related to addictive behaviors, depression, and obsessive-compulsive disorder. Based on years of clinical experience in surgical intervention for addiction and advances in addiction research both domestically and internationally, the inventors proposed a theory for preventing relapse through combined electrical stimulation of the nucleus accumbens and the anterior limb of the internal capsule. The image localization of these two target points (i.e., the nucleus accumbens and the anterior limb of the internal capsule) and the surgical planning of the stimulation electrode implantation pathway are the core prerequisites for this treatment.

[0163] The anterior limb of the internal capsule is present on each side of the brain, running between the putamen on the lateral side and the caudate nucleus on the medial side, with the nucleus accumbens on the ventromedial side. The anterior limb is composed of ascending and descending white matter fiber tracts, connecting the prefrontal cortex, striatum, thalamus, brainstem, cerebellum, and spinal cord, and is involved in emotion, cognition, decision-making, and the occurrence and development of mental disorders. The anterior limb of the internal capsule is one of the targets for lesioning surgery to treat mental disorders. The area where the white matter fiber tracts running along the anterior limb project to the prefrontal cortex is related to the arrangement pattern within the anterior limb from ventral to dorsal and from medial to lateral. Segmentation and refinement of the anterior limb of the internal capsule are prerequisites for improving the efficacy of deep brain stimulation (DBS) in treating mental disorders.

[0164] like Figure 14As shown, the anterior limb of the internal capsule can be divided into multiple regions (e.g., 2, 3, 4, 6, 12, 18, 24, etc.). The white matter fibers running in different regions project onto different areas of the prefrontal cortex. Different prefrontal cortical regions are involved in different functions and symptoms of mental illnesses.

[0165] In the following text, this application clarifies the planning steps and pathways for intervention at the nucleus accumbens and the anterior limb of the internal capsule, based on brain imaging.

[0166] See Figure 1 , Figure 1 A structural block diagram of a surgical system provided in this application is shown.

[0167] The surgical system includes:

[0168] Path planning device 10, the path planning device 10 being used to plan the path for implanting electrode wires into the patient's cranium;

[0169] Surgical device 20, the surgical device 20 being used to perform a surgery to implant the electrode wire into the patient's skull along the path, such that the electrode wire makes contact with the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain;

[0170] The electrode wires are used to deliver electrical stimulation to the anterior limb of the internal capsule and the nucleus accumbens.

[0171] Thus, the implantation surgery is performed using the surgical device 20, and the electrode wires are implanted into the patient's skull along the planned path.

[0172] In some possible implementations, the contact between the electrode wire and the anterior limb of the internal capsule and the nucleus accumbens means that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside.

[0173] The patient's illness includes one or more of the following mental illnesses: depression, bipolar disorder, anxiety disorder, post-traumatic stress disorder, obsessive-compulsive disorder, behavioral disorder, mood disorder, memory disorder, mental state disorder, drug addiction, and autism.

[0174] This application does not limit the surgical device 20, which may include, for example, one or more of the following: a surgical guide component, a drive component, a patient fixation component, and an operating table. This application does not limit the manner in which the surgical device 20 performs surgery; it may automatically execute surgical steps according to a preset surgical plan, or it may be controlled by a physician to execute surgical steps.

[0175] In some possible implementations, the surgical system may further include a medical imaging device for acquiring image data of the patient. Here, image data refers to medical image data. The medical imaging device may include, for example, one or more of a CT scanner, MR scanner, PET scanner, PET-CT scanner, and PET-MR scanner; correspondingly, the image data may include, for example, one or more of CT image data, MR image data, PET image data, PET-CT image data, and PET-MR image data. CT (Computed Tomography), MR (Magnetic Resonance), and PET (Positron Emission Tomography) are all relevant medical imaging technologies.

[0176] In some possible implementations, the path planning device 10 may be integrated with the surgical device 20.

[0177] In this application, the path planning device 10 can be configured to implement the steps of the path planning method, which will be described below first.

[0178] See Figure 2 , Figure 2 A flowchart illustrating a path planning method provided in this application is shown.

[0179] The method includes:

[0180] Step S101: Plan the path for implanting the electrode wire into the patient's brain. The planned path satisfies the following condition: if the electrode wire is implanted into the patient's brain according to the planned path, the electrode wire can simultaneously make contact with the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain.

[0181] The electrode wires are used to deliver electrical stimulation to the anterior limb of the internal capsule and the nucleus accumbens.

[0182] Therefore, by planning a specific implantation path for the electrode leads and implanting them into one hemisphere of the patient's brain (e.g., the left or right hemisphere), combined electrical stimulation can be performed on the nucleus accumbens and the anterior limb of the internal capsule in that hemisphere to treat the patient.

[0183] The pathway planning method allows the electrode leads to simultaneously make contact with the anterior limb of the internal capsule and the nucleus accumbens on one hemisphere. In this way, the electrode leads can deliver electrical stimulation to both the anterior limb of the internal capsule and the nucleus accumbens at the same time, thus enabling combined electrical stimulation therapy.

[0184] In the field of DBS, doctors used to perform electrical stimulation treatment on only one specific brain tissue. Therefore, after an electrode lead was implanted into the patient's brain, even if there were multiple electrode pads on the electrode lead, these electrode pads were used to deliver electrical stimulation to the same brain tissue (nucleus), and it was not possible to deliver electrical stimulation to multiple brain tissues at the same time, let alone perform combined electrical stimulation treatment on two specific brain tissues (i.e., the anterior limb of the internal capsule and the nucleus accumbens).

[0185] The path planning method provided in this application can plan the implantation path of the electrode wire, so that after the electrode wire is implanted into the patient's brain, it can perform combined electrical stimulation therapy on the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the brain, which has a better therapeutic effect on addictive behaviors, depression and obsessive-compulsive disorder.

[0186] In some possible implementations, the contact between the electrode wire and the anterior limb of the internal capsule and the nucleus accumbens means that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside.

[0187] The patient's illness includes one or more of the following mental illnesses: depression, bipolar disorder, anxiety disorder, post-traumatic stress disorder, obsessive-compulsive disorder, behavioral disorder, mood disorder, memory disorder, mental state disorder, drug addiction, and autism.

[0188] This allows electrode leads to pass through the anterior limb of the internal capsule and the nucleus accumbens in a specific direction, and combined electrical stimulation of the anterior limb of the internal capsule and the nucleus accumbens can be used to treat specific types of diseases, such as various mental illnesses, effectively alleviating the patient's condition and even curing the disease.

[0189] One or more electrode leads can be implanted in each hemisphere of the brain following the above pathway.

[0190] See Figure 3 , Figure 3 A flowchart illustrating a path planning method provided in this application is shown. In some possible implementations, step S101 may include:

[0191] Step S201: Obtain imaging data of the patient's brain;

[0192] Step S202: Based on the image data, locate the extreme points of the ventral contour of the nucleus accumbens to obtain the location data of the extreme points;

[0193] Step S203: Based on the location data of the extreme point, plan the path for implanting the electrode wire into the patient's skull, so that the straight line of the path passes through the extreme point from top to bottom, from front to back, and from outside to inside.

[0194] Therefore, the extreme point of the ventral contour of the nucleus accumbens is located using image data, and the implantation path of the electrode wire is planned using this extreme point, so that the straight line of the planned path passes through the extreme point.

[0195] In some possible implementations, the positioning process of the straight line includes:

[0196] Based on the image data, the set point of the anterior limb of the internal capsule is located to obtain the positioning data of the set point;

[0197] Based on the positioning data of the set point and the positioning data of the extreme point, the straight line is positioned so that the straight line passes through the set point and the extreme point.

[0198] Therefore, by using the set point of the anterior limb of the internal capsule and the extreme point of the nucleus accumbens to form a constraint on the path, the implantation path of the electrode wire is planned in a two-point-one-line manner, so that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens in sequence during the implantation process from top to bottom, from front to back, and from outside to inside.

[0199] Specifically, based on the segmentation of the anterior limb of the internal capsule, the projection relationship between each region and the prefrontal cortex is clarified, so as to determine the specific coordinate point when DBS intervention is performed on the anterior limb of the internal capsule, and the electrode path planning between the nucleus accumbens and the anterior limb of the internal capsule can be realized.

[0200] When defining the target point of the anterior limb of the internal capsule, based on individual differences in patient symptoms, the target point can be set as: the white matter fiber bundles running in this area will project to a specific prefrontal cortex associated with the patient's symptoms.

[0201] In some possible implementations, locating the set point of the anterior limb of the internal capsule based on the image data includes:

[0202] Based on the image data, the segmentation result of the anterior limb of the internal capsule is obtained, and the segmentation result of the anterior limb of the internal capsule is used to indicate multiple regions of the anterior limb of the internal capsule.

[0203] Based on the projection relationship between each region and the prefrontal cortex, one region is determined as the target region (from multiple regions) so that white matter fiber bundles running in the target region can project to the target prefrontal cortex, the target prefrontal cortex being the prefrontal cortex associated with the patient's disease.

[0204] Locate the set point of the anterior limb of the internal capsule within the target region.

[0205] Therefore, by using image data to obtain the segmentation results of the anterior limb of the internal capsule, and then using the segmentation results of the anterior limb of the internal capsule to locate the set point of the anterior limb of the internal capsule, when the implantation path passes the set point, the electrode wire can release electrical stimulation energy to the contact part (i.e., the target area) with the anterior limb of the internal capsule. This energy is projected to the target prefrontal cortex through the white matter fiber bundles of the target area, precisely acting on the specific prefrontal cortex associated with the patient's disease, thereby achieving precise treatment of mental illnesses.

[0206] In some possible implementations, the positioning process of the straight line includes:

[0207] The straight line is made to lie in the reference plane, and the acute angle formed by the straight line and any cross-section of the brain is a second preset angle.

[0208] The reference plane satisfies the following conditions: the extreme point is within the reference plane, and the acute angle formed by the reference plane and any sagittal plane of the brain is a first preset angle, and the normal of the reference plane is parallel to any coronal plane of the brain.

[0209] In mathematics, an extremum is a collective term for both maximum and minimum values, referring to the function value at a point on a function's domain where the function reaches its maximum or minimum value. The point where the function reaches an extremum is called an extreme point. This domain can be a neighborhood or the entire function domain (in which case the extremum is called an extreme value, global extremum, or absolute extremum).

[0210] This application does not limit the positioning data. The positioning data can be, for example, coordinate data, and the coordinate system used can be, for example, a Cartesian coordinate system, a planar polar coordinate system, a cylindrical coordinate system (or cylindrical coordinate system), or a spherical coordinate system (or spherical coordinate system). In practical applications, one or more coordinate systems can be established according to the needs of the surgeon, and mapping relationships between multiple coordinate systems can be established to perform the surgery.

[0211] Therefore, the straight line containing the path lies within a specific reference plane and forms a specific acute angle (i.e., the second preset angle) with any cross-section of the brain.

[0212] The setting of the reference plane needs to meet several conditions. Not only must the extreme point be within the reference plane, but the reference plane must also form a specific acute angle with any sagittal plane (i.e., the first preset angle). Furthermore, the normal of the reference plane must be parallel to the coronal plane. In other words, the projection of the reference plane onto the coronal plane is a straight line.

[0213] In this way, the straight line of the planned path can pass through the anterior limb of the internal capsule and the nucleus accumbens in a specific direction and at a specific angle. Therefore, the electrode wires implanted according to such a path can pass through the anterior limb of the internal capsule and the nucleus accumbens in a specific direction and at a specific angle, so as to achieve combined electrical stimulation therapy for these two brain tissues.

[0214] In some possible implementations, the first preset angle is not less than 5 degrees and not more than 85 degrees, and the second preset angle is not less than 15 degrees and not more than 90 degrees.

[0215] Therefore, since brain structure varies from person to person, the first and second preset angles can be selected within a relatively wide range of values, as long as they can be used to perform combined electrical stimulation on the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain.

[0216] In some possible implementations, the first preset angle is not less than 15 degrees and not more than 45 degrees, and the second preset angle is not less than 40 degrees and not more than 85 degrees.

[0217] Therefore, although everyone's brain structure is different, most people's brain structures are relatively similar. From a probabilistic point of view, a more precise angle range can be used to quickly determine the direction of the implantation path, which is sufficient to deal with the general situation of most people. For a very small number of people whose brain structures are significantly different from those of ordinary people, a wider range can be used as an alternative to help doctors plan the path for implanting electrode leads for these few people.

[0218] In some possible implementations, the process of determining the first preset angle and the second preset angle includes:

[0219] Based on the image data, the set point of the anterior limb of the internal capsule is located to obtain the positioning data of the set point;

[0220] Based on the positioning data of the set point and the positioning data of the extreme point, the first preset angle and the second preset angle are determined.

[0221] Therefore, before determining the implantation path using the first preset angle, the second preset angle, and the extreme point, the set point of the anterior limb of the internal capsule and the extreme point of the nucleus accumbens are used as constraints, which greatly narrows the range of the first preset angle and the second preset angle, and greatly narrows the range of the implantation path of the electrode wire during the implantation process. In particular, when the first preset angle and the second preset angle can be taken in a relatively wide range, the amount of data required to calculate all feasible solutions of the first preset angle and the second preset angle can be greatly reduced.

[0222] In some possible implementations, the process of determining the first preset angle and the second preset angle includes:

[0223] Based on the image data, the segmentation result of the anterior limb of the internal capsule is obtained, and the segmentation result of the anterior limb of the internal capsule is used to indicate multiple regions of the anterior limb of the internal capsule.

[0224] Based on the projection relationship between each region and the prefrontal cortex, one region is determined as the target region (from multiple regions), and the localization data of the target region is obtained so that the white matter fiber bundles running in the target region can project to the target prefrontal cortex, wherein the target prefrontal cortex refers to the prefrontal cortex associated with the patient's disease.

[0225] Based on the positioning data of the target area and the positioning data of the extreme point, the first preset angle and the second preset angle are determined.

[0226] In some other possible implementations, step S101 may include:

[0227] Obtain imaging data of the patient's brain;

[0228] Based on the image data, the positioning data of the anterior limb of the internal capsule and the positioning data of the nucleus accumbens are obtained;

[0229] Based on the location data of the anterior limb of the internal capsule and the location data of the nucleus accumbens, a path is planned to implant the electrode wire into the patient's cranium, so that the straight line of the path passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside.

[0230] In some other possible implementations, step S101 may include:

[0231] Obtain imaging data of the patient's brain;

[0232] Based on the image data, the contour data of the anterior limb of the internal capsule and the contour data of the nucleus accumbens are obtained;

[0233] Using the contour data of the anterior limb of the internal capsule and the contour data of the nucleus accumbens, spatial constraints are formed on the path, and the path for implanting the electrode wire into the patient's cranium is planned so that the straight line of the path passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside.

[0234] In some other possible implementations, step S101 may include:

[0235] Obtain imaging data of the patient's brain;

[0236] Based on the image data, the contour data of the anterior limb of the internal capsule, the contour data of the nucleus accumbens, and the contour data of the caudate nucleus, putamen, and medial oblique band located in the same hemisphere as the anterior limb of the internal capsule and the nucleus accumbens are obtained.

[0237] Using the contour data of the anterior limb of the internal capsule, the contour data of the nucleus accumbens, the contour data of the caudate nucleus, the contour data of the putamen, and the contour data of the medial oblique band, a spatial constraint on the path is formed, and a path for implanting the electrode wire into the patient's cranium is planned so that the straight line of the path passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside.

[0238] In some other possible implementations, step S101 may include:

[0239] Obtain imaging data of the patient's brain;

[0240] Based on the image data, a three-dimensional model of the patient's brain is obtained;

[0241] In the three-dimensional model, the contours of the anterior limb of the internal capsule and the nucleus accumbens are used to form spatial constraints on the path, and the path for implanting the electrode wire into the patient's cranium is planned so that the straight line of the path passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside.

[0242] See Figure 4 and Figure 5 , Figure 4 This application provides a partial two-dimensional image of the coronal plane of a brain. Figure 5 A schematic diagram of a process for locating extreme points provided in this application is shown. Figure 4 The location of the caudate nucleus, putamen, nucleus accumbens, anterior limb of the internal capsule, and medial oblique band is shown.

[0243] In some possible implementations, step S202 may include:

[0244] Step S301: Locate reference points based on the image data and generate a two-dimensional image of the brain corresponding to the reference points. The two-dimensional image of the brain corresponding to the reference points includes one or more of the following: a two-dimensional image of the coronal plane, a two-dimensional image of the sagittal plane, and a two-dimensional image of the transverse plane.

[0245] Step S302: Locate the extreme point of the ventral contour of the nucleus accumbens using the two-dimensional image of the brain corresponding to the reference point.

[0246] Therefore, by using image data, reference points can be located, such as the anterior commissure, posterior commissure, or the midpoint between the two. After locating the reference point, the corresponding coronal, sagittal, and transverse planes of the brain can be located, i.e., the coronal plane (in other words, the reference point is within the coronal plane), sagittal, and transverse planes passing through the reference point. One or more two-dimensional images of the coronal, sagittal, and transverse planes can be generated using the three-dimensional image data. Since the ventral contour of the nucleus accumbens presents a parabolic shape in the above two-dimensional images (the parabola opens upward and outward), the extreme points of the ventral contour of the nucleus accumbens (i.e., the apex of the parabola) can be located from it. Furthermore, the step of locating the extreme points can be achieved by intelligent recognition or manual calibration.

[0247] For doctors, this method of locating extreme points is very intuitive and can be quickly identified based on experience.

[0248] Alternatively, intelligent recognition methods can be used to quickly identify the contour of the apical septum using edge detection algorithms and / or image segmentation algorithms, thereby locating the extreme points of the ventral contour of the apical septum. The algorithm models corresponding to the edge detection and image segmentation algorithms can both be pre-trained. These pre-trained algorithm models can be trained using supervised learning, semi-supervised learning, or unsupervised learning.

[0249] The path planning method provided in this application uses reference points to generate a two-dimensional image and uses the two-dimensional image to locate extreme points. This method of locating extreme points is simple in calculation, has a small amount of computation, is fast in calculation, and consumes less computational resources.

[0250] A parabola is an axis-symmetric figure, and its axis of symmetry is simply called the axis. The point where the parabola intersects its axis is called the vertex of the parabola.

[0251] In some possible implementations, the reference point is the midpoint of the line connecting the anterior and posterior commissures of the brain; or,

[0252] The reference point is the anterior commissure of the brain; or...

[0253] The reference point is the posterior commissure of the brain.

[0254] Therefore, using the midpoint of the line connecting the anterior and posterior commissures, or the anterior and posterior commissures, as a reference point offers advantages in terms of simplicity and ease of implementation, regardless of whether intelligent recognition or manual calibration is employed. For doctors, this method of locating reference points is very intuitive and can be quickly calibrated based on experience. Intelligent recognition methods can also utilize edge detection algorithms to quickly obtain the entire brain's outline and locate the anterior and posterior commissures, thereby pinpointing the reference point.

[0255] In this application, the term "anterior commissure" has two translations: "anterior commissure" and "anterior union," which have the same meaning; similarly, the term "posterior commissure" has two translations: "posterior commissure" and "posterior union," which have the same meaning.

[0256] See Figure 6 , Figure 6 A schematic diagram of another process for locating extreme points provided in this application is shown.

[0257] In some possible implementations, step S302 may include:

[0258] Step S401: Receive adjustment operations for each of the two-dimensional images;

[0259] Step S402: In response to the adjustment operation, adjust one or more of the following parameters of the two-dimensional image: brightness, contrast, saturation, exposure, hue, grayscale and scaling ratio;

[0260] Step S403: Locate the extreme points of the ventral contour of the nucleus accumbens using the adjusted two-dimensional image.

[0261] Therefore, doctors can manually adjust the parameters of a two-dimensional image, which can change the display effect of the two-dimensional image, thus helping to determine the extreme points.

[0262] This application does not limit the parameters that can be adjusted, which may be one or more of a plurality of parameters that affect the display effect.

[0263] Clearly, adjusting one or more of these parameters can make the ventral contour of the nucleus accumbens more prominent and clear (or have higher contrast), which makes the located extreme points more accurate and reliable, the location speed faster, and the location efficiency higher, thereby improving the overall efficiency of path planning.

[0264] The purpose of adjusting the parameters in this way is to make the boundaries and contours of the nucleus accumbens (including the ventral, dorsal, medial, lateral, anterior, and posterior sides) clearer, transforming the incompletely visible contours before adjustment into relatively clear contours after adjustment, which is beneficial for locating the ventral extreme points (i.e., the extreme points of the ventral contours of the nucleus accumbens).

[0265] In some possible implementations, step S401 may include: displaying the two-dimensional image using an interactive device; and receiving adjustment operations on the two-dimensional image using the interactive device.

[0266] In some possible implementations, the interactive device has a display component and a touch component. The interactive device can be, for example, a mobile phone, tablet computer, laptop computer, desktop computer, or other smart terminal device.

[0267] In some possible implementations, the adjustment operation is an operation to adjust a parameter curve, and the adjustment operation is used to adjust the brightness, contrast, or grayscale of the two-dimensional image; or,

[0268] The adjustment operation is an operation of adjusting the parameter progress bar. This adjustment operation is used to adjust the brightness, contrast, saturation, exposure, hue, grayscale, and scaling ratio of the two-dimensional image; or...

[0269] The adjustment operation is an operation to adjust parameter values. The adjustment operation is used to adjust the brightness, contrast, saturation, exposure, hue, grayscale and scaling ratio of the two-dimensional image.

[0270] This allows doctors to adjust brightness or contrast by adjusting parameter curves, or by adjusting parameter progress bars, or by adjusting parameter values. Doctors can choose the method of parameter adjustment according to their own preferences to quickly adjust the display effect of two-dimensional images and further improve path planning efficiency.

[0271] Specifically, when the adjustment operation is an operation of adjusting parameter curves, one or more of the brightness, contrast, and grayscale of multiple regions of the two-dimensional image can be adjusted differentially to highlight the contour region of the voltammetric nucleus in the two-dimensional image. That is, in some possible implementations, the brightness of some regions can be increased while the brightness of other regions is decreased; and / or, the contrast of some regions can be increased while the contrast of other regions is decreased; and / or, the grayscale of some regions can be increased while the grayscale of other regions is decreased.

[0272] See Figure 7 , Figure 7This illustration shows another flowchart for locating extreme points provided in this application. In some other possible implementations, step S202 may include:

[0273] Step S501: Based on the image data, generate a three-dimensional model of the patient's brain;

[0274] Step S502: Use the three-dimensional model to locate the extreme points of the ventral contour of the nucleus accumbens.

[0275] Therefore, a three-dimensional model of the brain is generated using image data, and then the extreme points are located using the three-dimensional model. The extreme points can be located by intelligent recognition or manual calibration.

[0276] When manual calibration is used, the three-dimensional model has stronger visualization compared to image data and two-dimensional images, allowing doctors to more easily and quickly calibrate the extreme point.

[0277] When using intelligent recognition, compared to image data and two-dimensional images (image data or two-dimensional images often require data completion methods such as interpolation algorithms to obtain extreme points), three-dimensional models have continuous shapes (or contours), and can quickly calculate extreme points without data completion. Moreover, the computational load is small, the calculation speed is fast, the calculation efficiency is high, and the computational resources consumed are also less.

[0278] In some other possible implementations, step S101 may include:

[0279] Based on the image data, a three-dimensional model of the patient's brain is generated;

[0280] The three-dimensional model is displayed using a display device. The three-dimensional model includes the three-dimensional structure of the nucleus accumbens and the three-dimensional structure of the anterior limb of the internal capsule.

[0281] Receive a path planning operation using an interactive device, and plan the path in response to the path planning operation.

[0282] Therefore, the nucleus accumbens and the anterior limb of the internal capsule can be displayed simultaneously in the three-dimensional model. Based on the three-dimensional structure of the two target points (i.e., the nucleus accumbens and the anterior limb of the internal capsule) displayed, the doctor can design the surgical path.

[0283] This application does not limit the interactive device, which may be, for example, a mobile phone, tablet computer, laptop computer, desktop computer, smart wearable device or other smart terminal device, or a console or workstation.

[0284] This application does not limit the methods of receiving various (human) operations using interactive devices. Operations can be categorized according to input methods, such as text input, audio input, video input, button operation, knob operation, mouse operation, keyboard operation, and smart stylus operation.

[0285] The aforementioned display and interactive devices can be integrated into one unit. For example, a touch display device can be used, such as a tablet computer, smart screen, smartphone, or laptop computer with a touch screen.

[0286] See Figure 8 , Figure 8 A flowchart illustrating another path planning method provided in this application is shown. In some possible implementations, step S202 may include:

[0287] Step S601: Based on the image data, obtain the contour data of the anterior limb of the internal capsule;

[0288] Step S602: Use the contour data of the anterior limb of the internal capsule to form a spatial constraint on the path, and plan the path based on the positioning data of the extreme points, so that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens in sequence during the implantation process.

[0289] Therefore, the contour data of the anterior limb of the internal capsule is obtained by using imaging data, and the contour data of the anterior limb of the internal capsule is used to form a constraint on the path. Combined with the positioning data of extreme points, the implantation path of the electrode wire is planned so that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens in sequence during the implantation process from top to bottom, from front to back, and from outside to inside.

[0290] In other words, before determining the implantation path using the first preset angle, the second preset angle, and the extreme point, the contour of the anterior limb of the internal capsule is used as a constraint, which greatly narrows the range of the implantation path of the electrode wire during the implantation process. In particular, when the first preset angle and the second preset angle can be taken in a wide range of values, the amount of data required to calculate all feasible solutions can be greatly reduced.

[0291] See Figures 9 to 11 , Figure 9 This application provides a schematic diagram of the brain's structure from a coronal view. Figure 10 This application provides a schematic diagram of the brain's structure from a sagittal plane perspective. Figure 11 This application illustrates a spatial relationship diagram between a second preset angle and a third preset angle. As an example, the first preset angle could be, for instance, a... Figure 9 and Figure 11 In the equation A, the second preset angle could be, for example, […]. Figure 11In B, the third preset angle could be, for example, Figure 10 and Figure 11 C in the middle.

[0292] In some other possible implementations, step S203 may include:

[0293] Based on the location data of the extreme point, a reference plane passing through the extreme point is located. The acute angle formed by the reference plane and the midsagittal plane of the brain is the first preset angle, and the normal of the reference plane is parallel to any coronal plane of the brain.

[0294] The inclined surface passing through the extreme point is located. The angle formed by the inclined surface and any cross section of the brain is a third preset angle. The normal of the inclined surface is parallel to any sagittal plane of the brain. The third preset angle is determined by the first preset angle and the second preset angle.

[0295] The intersection of the reference surface and the inclined surface is determined as the straight line where the path lies.

[0296] Therefore, by using the intersection of two surfaces (i.e., the reference surface and the inclined surface) to determine the straight line, the straight line can be quickly located from the reference surface.

[0297] In some other possible implementations, step S203 may include:

[0298] Based on the location data of the extreme point, a cone with the extreme point as its vertex is located. The axis of the cone is perpendicular to the cross section of the brain. Furthermore, the angle formed by the generatrix of the cone and any cross section of the brain is the second preset angle.

[0299] One of the two lines of intersection between the cone and the reference surface is determined as the straight line.

[0300] Therefore, by using the reference point as the vertex of the (inverted) cone and spatially constraining the axis and generatrix of the cone, the straight line can be quickly located.

[0301] This application also provides a path planning method, the path planning method comprising:

[0302] Based on the patient's MRI and CT images, obtain the location data of the nucleus accumbens, caudate nucleus, putamen, anterior limb of internal capsule, and medial oblique zone of one hemisphere of the patient's brain (as long as the approximate location of the nucleus accumbens, caudate nucleus, putamen, anterior limb of internal capsule, and medial oblique zone can be obtained).

[0303] Set the midpoint of the line connecting the anterior and posterior commissures as the reference point, and obtain a two-dimensional image of the coronal plane where the reference point is located;

[0304] Adjust the grayscale and contrast of the two-dimensional image to more clearly determine the location of one or more of the aforementioned functional areas;

[0305] Determine the extreme points of the ventral contour of the nucleus accumbens from this two-dimensional image;

[0306] Obtain the midsagittal plane between the left and right hemispheres, and locate a plane that points to the extreme point and forms an acute angle with the midsagittal plane, which is the first preset angle;

[0307] A straight line is obtained in the plane that forms an acute angle with any cross-section, and the angle is a second preset angle. This straight line is used as the straight line along the path for implanting the electrode wire into the skull.

[0308] This application also provides a path planning device, the specific implementation of which is consistent with the implementation method and the technical effect achieved in the above-described method implementation method, and some details will not be repeated.

[0309] The path planning device includes a processor, the processor being configured to:

[0310] The planned path for implanting the electrode lead into the patient's brain satisfies the following condition: if the electrode lead is implanted into the patient's brain according to the planned path, the electrode lead can simultaneously make contact with the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain.

[0311] The electrode wires are used to deliver electrical stimulation to the anterior limb of the internal capsule and the nucleus accumbens.

[0312] Therefore, by planning a specific implantation path for the electrode leads and implanting them into one hemisphere of the patient's brain (e.g., the left or right hemisphere), combined electrical stimulation of the nucleus accumbens and the anterior limb of the internal capsule in that hemisphere can be delivered for treatment. The path planned by this device allows the electrode leads to simultaneously contact the anterior limb of the internal capsule and the nucleus accumbens on one hemisphere, thus delivering electrical stimulation to both simultaneously, enabling combined electrical stimulation therapy. In the field of deep brain stimulation (DBS), doctors previously targeted only one specific brain tissue for electrical stimulation. Therefore, even if an electrode lead had multiple electrode pads, these pads were used to deliver electrical stimulation to the same brain tissue (nucleus), preventing simultaneous delivery of stimulation to multiple brain tissues, and making combined electrical stimulation of two specific brain tissues (i.e., the anterior limb of the internal capsule and the nucleus accumbens) impossible. The path planning device provided in this application can plan the implantation path of the electrode wire, so that after the electrode wire is implanted into the patient's brain, it can perform combined electrical stimulation therapy on the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the brain, which has a better therapeutic effect on addictive behaviors, depression and obsessive-compulsive disorder.

[0313] In some possible implementations, the contact between the electrode wire and the anterior limb of the internal capsule and the nucleus accumbens means that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside.

[0314] The patient's illness includes one or more of the following mental illnesses: depression, bipolar disorder, anxiety disorder, post-traumatic stress disorder, obsessive-compulsive disorder, behavioral disorder, mood disorder, memory disorder, mental state disorder, substance addiction, and autism.

[0315] This allows electrode leads to pass through the anterior limb of the internal capsule and the nucleus accumbens in a specific direction, and combined electrical stimulation of the anterior limb of the internal capsule and the nucleus accumbens can be used to treat specific types of diseases, such as various mental illnesses, effectively alleviating the patient's condition and even curing the disease.

[0316] In some possible implementations, the processor is further configured to plan the path in the following manner:

[0317] Acquire imaging data of the patient's brain, including magnetic resonance imaging data and / or CT imaging data;

[0318] Based on the image data, the extreme points of the ventral contour of the nucleus accumbens are located to obtain the location data of the extreme points.

[0319] Based on the location data of the extreme point, a path is planned to implant the electrode wire into the patient's skull, so that the straight line of the path passes through the extreme point from top to bottom, from front to back, and from outside to inside.

[0320] Therefore, the extreme point of the ventral contour of the nucleus accumbens is located using image data, and the implantation path of the electrode wire is planned using this extreme point, so that the straight line of the planned path passes through the extreme point.

[0321] In some possible implementations, the processor is further configured to locate the line in the following manner:

[0322] Based on the image data, the set point of the anterior limb of the internal capsule is located to obtain the positioning data of the set point;

[0323] Based on the positioning data of the set point and the positioning data of the extreme point, the straight line is positioned so that the straight line passes through the set point and the extreme point.

[0324] Therefore, by using the set point of the anterior limb of the internal capsule and the extreme point of the nucleus accumbens to form a constraint on the path, the implantation path of the electrode wire is planned in a two-point-one-line manner, so that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens in sequence during the implantation process from top to bottom, from front to back, and from outside to inside.

[0325] In some possible implementations, the processor is further configured to locate the setpoint of the anterior limb of the internal capsule in the following manner:

[0326] Based on the image data, the segmentation result of the anterior limb of the internal capsule is obtained, and the segmentation result of the anterior limb of the internal capsule is used to indicate multiple regions of the anterior limb of the internal capsule.

[0327] Based on the projection relationship between each region and the prefrontal cortex, one region is identified as the target region so that the white matter fiber bundles running in the target region can project to the target prefrontal cortex, wherein the target prefrontal cortex refers to the prefrontal cortex associated with the patient's disease.

[0328] Locate the set point of the anterior limb of the internal capsule within the target region.

[0329] Therefore, by using image data to obtain the segmentation results of the anterior limb of the internal capsule, and then using the segmentation results of the anterior limb of the internal capsule to locate the set point of the anterior limb of the internal capsule, when the implantation path passes the set point, the electrode wire can release electrical stimulation energy to the contact part (i.e., the target area) with the anterior limb of the internal capsule. This energy is projected to the target prefrontal cortex through the white matter fiber bundles of the target area, precisely acting on the specific prefrontal cortex associated with the patient's disease, thereby achieving precise treatment of mental illnesses.

[0330] In some possible implementations, the processor is further configured to locate the line in the following manner:

[0331] The straight line is made to lie in the reference plane, and the acute angle formed by the straight line and any cross-section of the brain is a second preset angle.

[0332] The reference plane satisfies the following conditions: the extreme point is within the reference plane, and the acute angle formed by the reference plane and any sagittal plane of the brain is a first preset angle, and the normal of the reference plane is parallel to any coronal plane of the brain.

[0333] Therefore, the straight line containing this path lies within a specific reference plane and forms a specific acute angle (i.e., the second preset angle) with any cross-section of the brain. The reference plane must meet several conditions: not only must the extreme point lie within the reference plane, but the reference plane must also form a specific acute angle (i.e., the first preset angle) with any sagittal plane, and the normal of the reference plane must be parallel to the coronal plane; that is, the projection of the reference plane onto the coronal plane is a straight line. In this way, the straight line containing the planned path can pass through the anterior limb of the internal capsule and the nucleus accumbens along a specific direction and at a specific angle. Therefore, electrode leads implanted along this path can pass through the anterior limb of the internal capsule and the nucleus accumbens along a specific direction and at a specific angle, achieving combined electrical stimulation therapy targeting these two brain tissues.

[0334] In some possible implementations, the first preset angle is not less than 5 degrees and not more than 85 degrees, and the second preset angle is not less than 15 degrees and less than 90 degrees.

[0335] Therefore, since brain structure varies from person to person, the first and second preset angles can be selected within a relatively wide range of values, as long as they can be used to perform combined electrical stimulation on the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain.

[0336] In some possible implementations, the first preset angle is not less than 15 degrees and not more than 45 degrees, and the second preset angle is not less than 40 degrees and not more than 85 degrees.

[0337] Therefore, although everyone's brain structure is different, most people's brain structures are relatively similar. From a probabilistic point of view, a more precise angle range can be used to quickly determine the direction of the implantation path, which is sufficient to deal with the general situation of most people. For a very small number of people whose brain structures are significantly different from those of ordinary people, a wider range can be used as an alternative to help doctors plan the path for implanting electrode leads for these few people.

[0338] In some possible implementations, the processor is further configured to determine the first preset angle and the second preset angle in the following manner:

[0339] Based on the image data, the set point of the anterior limb of the internal capsule is located to obtain the positioning data of the set point;

[0340] Based on the positioning data of the set point and the positioning data of the extreme point, the first preset angle and the second preset angle are determined.

[0341] Therefore, before determining the implantation path using the first preset angle, the second preset angle, and the extreme point, the set point of the anterior limb of the internal capsule and the extreme point of the nucleus accumbens are used as constraints, which greatly narrows the range of the first preset angle and the second preset angle, and greatly narrows the range of the implantation path of the electrode wire during the implantation process. In particular, when the first preset angle and the second preset angle can be taken in a relatively wide range of values, the amount of data required to calculate all feasible solutions for the first preset angle and the second preset angle can be greatly reduced.

[0342] In some possible implementations, the processor is further configured to locate the extreme points of the ventral contour of the accumbens core in the following manner:

[0343] Based on the image data, a reference point is located, and a two-dimensional image of the brain corresponding to the reference point is generated. The two-dimensional image of the brain corresponding to the reference point includes one or more of the following: a coronal two-dimensional image, a sagittal two-dimensional image, and a transverse two-dimensional image.

[0344] The extreme points of the ventral contour of the nucleus accumbens are located using a two-dimensional image of the brain corresponding to the reference point.

[0345] Therefore, using image data, reference points are located, such as the anterior commissure, posterior commissure, or the midpoint between the two. After locating the reference point, the corresponding coronal, sagittal, and transverse planes of the brain can be located, i.e., the coronal plane (in other words, the reference point is within the coronal plane), sagittal plane, and transverse plane passing through the reference point. One or more two-dimensional images of the corresponding coronal, sagittal, and transverse planes are then generated using the three-dimensional image data. Since the ventral contour of the nucleus accumbens presents a parabolic shape in the aforementioned two-dimensional images (the parabola opens upwards and outwards), the extreme points of the ventral contour of the nucleus accumbens can be located. This process of locating extreme points can be achieved using intelligent recognition or manual calibration. For doctors, this method of locating extreme points is very intuitive and can be quickly calibrated based on experience. Using intelligent recognition, edge detection algorithms and / or image segmentation algorithms can also be used to quickly identify the contour of the nucleus accumbens, thereby locating the extreme points of its ventral contour. The path planning device provided in this application generates a two-dimensional image using reference points and uses the two-dimensional image to locate extreme points. This method of locating extreme points is simple in calculation, has a small amount of computation, is fast in calculation, and consumes less computational resources.

[0346] In some possible implementations, the reference point is the midpoint of the line connecting the anterior and posterior commissures of the brain; or,

[0347] The reference point is the anterior commissure of the brain; or...

[0348] The reference point is the posterior commissure of the brain.

[0349] Therefore, using the midpoint of the line connecting the anterior and posterior commissures, or the anterior and posterior commissures, as a reference point offers advantages in terms of simplicity and ease of implementation, regardless of whether intelligent recognition or manual calibration is employed. For doctors, this method of locating reference points is very intuitive and can be quickly calibrated based on experience. Intelligent recognition methods can also utilize edge detection algorithms to quickly obtain the entire brain's outline and locate the anterior and posterior commissures, thereby pinpointing the reference point.

[0350] In some possible implementations, the processor is further configured to locate the extreme points of the ventral contour of the accumbens core in the following manner:

[0351] Receive adjustment operations for each of the two-dimensional images, and in response to the adjustment operations, adjust one or more of the following parameters of the two-dimensional images: brightness, contrast, saturation, exposure, hue, grayscale, and scaling.

[0352] The extreme points of the ventral contour of the nucleus accumbens are located using the adjusted two-dimensional image.

[0353] Therefore, doctors can manually adjust the parameters of the two-dimensional image, which can change the display effect of the two-dimensional image, thus facilitating the identification of extreme points. This application does not limit the parameters that can be adjusted; for example, it can be one or more of multiple parameters that affect the display effect. Clearly, adjusting one or more of these parameters can make the ventral contour of the nucleus accumbens more prominent and clear (or in other words, increase contrast), thus making the located extreme points more accurate and reliable, faster, and more efficient, thereby improving the overall efficiency of path planning.

[0354] In some possible implementations, the adjustment operation is an operation to adjust a parameter curve, and the adjustment operation is used to adjust the brightness, contrast, or grayscale of the two-dimensional image; or,

[0355] The adjustment operation is an operation of adjusting the parameter progress bar. This adjustment operation is used to adjust the brightness, contrast, saturation, exposure, hue, grayscale, and scaling ratio of the two-dimensional image; or...

[0356] The adjustment operation is an operation to adjust parameter values. The adjustment operation is used to adjust the brightness, contrast, saturation, exposure, hue, grayscale and scaling ratio of the two-dimensional image.

[0357] This allows doctors to adjust brightness or contrast by adjusting parameter curves, or by adjusting parameter progress bars, or by adjusting parameter values. Doctors can choose the method of parameter adjustment according to their own preferences to quickly adjust the display effect of two-dimensional images and further improve path planning efficiency.

[0358] In some possible implementations, the processor is further configured to locate the extreme points of the ventral contour of the accumbens core in the following manner:

[0359] Based on the image data, a three-dimensional model of the patient's brain is generated;

[0360] The extreme points of the ventral contour of the nucleus accumbens are located using the three-dimensional model.

[0361] Therefore, a three-dimensional model of the brain is generated using image data, and then the extreme points are located using this model. The extreme points can be located through intelligent recognition or manual calibration. When manual calibration is used, the three-dimensional model is more visually appealing than image data and two-dimensional images, allowing doctors to more easily and quickly locate the extreme points. When intelligent recognition is used, compared to image data and two-dimensional images (which require interpolation algorithms to complete the data before finding extreme points), the three-dimensional model has a continuous shape (or contour), eliminating the need for data completion and allowing for rapid calculation of extreme points. Furthermore, it involves less computation, is faster, more efficient, and consumes fewer computational resources.

[0362] In some possible implementations, the processor is further configured to plan the path in the following manner:

[0363] Based on the image data, a three-dimensional model of the patient's brain is generated;

[0364] The three-dimensional model is displayed using a display device. The three-dimensional model includes the three-dimensional structure of the nucleus accumbens and the three-dimensional structure of the anterior limb of the internal capsule.

[0365] Receive a path planning operation using an interactive device, and plan the path in response to the path planning operation.

[0366] Therefore, the nucleus accumbens and the anterior limb of the internal capsule can be displayed simultaneously in the three-dimensional model. Based on the three-dimensional structure of the two target points (i.e., the nucleus accumbens and the anterior limb of the internal capsule) displayed, the doctor can design the surgical path.

[0367] See Figure 12 , Figure 12 A structural block diagram of a path planning device 200 provided in this application is shown. The path planning device 200 may include, for example, at least one memory 210, at least one processor 220, and a bus 230 connecting different platform systems.

[0368] The memory 210 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 211 and / or cache memory 212, and may further include read-only memory (ROM) 213.

[0369] The memory 210 also stores a computer program, which can be executed by the processor 220 to enable the processor 220 to perform the function of any of the above-mentioned path planning devices. The specific implementation method is consistent with the implementation method and the technical effect achieved in the above-mentioned method implementation method, and some contents will not be repeated.

[0370] The memory 210 may also include a utility 214 having at least one program module 215, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0371] Accordingly, processor 220 can execute the aforementioned computer program, and can also execute utility 214.

[0372] The processor 220 may employ one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0373] Bus 230 can be one or more of several types of bus structures, including a memory bus or memory path planning device, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure with multiple bus structures.

[0374] The path planning device 200 can also communicate with one or more external devices 240, such as a keyboard, pointing device, Bluetooth device, etc., and with one or more devices capable of interacting with the path planning device 200, and / or with any device (e.g., a router, modem, etc.) that enables the path planning device 200 to communicate with one or more other computing devices. This communication can be performed via input / output interface 250. Furthermore, the path planning device 200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 260. Network adapter 260 can communicate with other modules of the path planning device 200 via bus 230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the path planning device 200, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0375] This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the function of any of the above-described path planning devices or the steps of any of the above-described path planning methods. The specific implementation method is consistent with the implementation method and the technical effect achieved in the implementation method of the above-described path planning method, and some contents will not be repeated.

[0376] See Figure 13 , Figure 13 A schematic diagram of a program product for implementing a path planning method provided in this application is shown. The program product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of this invention is not limited thereto. In this application, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device. The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0377] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, or any suitable combination thereof. Program code for performing operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code may be executed entirely on a user computing device, partially on a user device, as a standalone software package, partially on a user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing devices can be connected to user computing devices via any type of network, including local area networks (LANs) or wide area networks (WANs), or they can be connected to external computing devices (e.g., via the Internet using an Internet service provider).

[0378] This application describes the invention from the perspectives of purpose, performance, progress, and novelty, and it meets the functional enhancement and use requirements emphasized by the Patent Law. The above description and drawings are merely preferred embodiments of this application and are not intended to limit this application. Therefore, all structures, devices, features, etc., that are similar to or identical to those of this application, i.e., all equivalent substitutions or modifications made in accordance with the scope of this patent application, shall fall within the scope of protection of this patent application.

Claims

1. A path planning device, characterized in that, The path planning device includes a processor, the processor being configured to: The planned path for implanting the electrode leads into the patient's cranium satisfies the following conditions: if the electrode leads are implanted into the patient's cranium according to the planned path, the electrode leads can simultaneously make contact with the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain; the contact between the electrode leads and the anterior limb of the internal capsule and the nucleus accumbens means that the electrode leads pass through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside. The processor is further configured to plan the path in the following manner: acquire imaging data of the patient's brain, including magnetic resonance imaging data and / or CT imaging data; based on the imaging data, locate the extreme points of the ventral contour of the nucleus accumbens to obtain the localization data of the extreme points; Based on the location data of the extreme point, a path is planned to implant the electrode wire into the patient's brain, so that the straight line of the path passes through the extreme point from top to bottom, from front to back, and from outside to inside. The processor is further configured to locate the straight line in the following manner: based on the image data, locate a set point of the anterior limb of the internal capsule to obtain positioning data of the set point; based on the positioning data of the set point and the positioning data of the extreme point, locate the straight line so that the straight line passes through the set point and the extreme point; The processor is further configured to locate the setpoint of the anterior limb of the internal capsule in the following manner: based on the image data, acquire a segmentation result of the anterior limb of the internal capsule, the segmentation result of the anterior limb of the internal capsule being used to indicate multiple regions of the anterior limb of the internal capsule; based on the projection relationship between each region and the prefrontal cortex, determine one region as a target region, so that white matter fiber bundles running in the target region can project to a target prefrontal cortex, the target prefrontal cortex being the prefrontal cortex associated with the patient's disease; locate the setpoint of the anterior limb of the internal capsule from the target region; The electrode wires are used to deliver electrical stimulation to the anterior limb of the internal capsule and the nucleus accumbens.

2. The path planning device according to claim 1, characterized in that, The patient's illness includes one or more of the following mental illnesses: depression, bipolar disorder, anxiety disorder, post-traumatic stress disorder, obsessive-compulsive disorder, behavioral disorder, mood disorder, memory disorder, mental state disorder, drug addiction, and autism.

3. The path planning device according to claim 1, characterized in that, The processor is further configured to locate the straight line in the following manner: The straight line is made to lie in the reference plane, and the acute angle formed by the straight line and any cross-section of the brain is a second preset angle. The reference plane satisfies the following conditions: the extreme point is within the reference plane, and the acute angle formed by the reference plane and any sagittal plane of the brain is a first preset angle, and the normal of the reference plane is parallel to any coronal plane of the brain.

4. The path planning device according to claim 3, characterized in that, The first preset angle is not less than 5 degrees and not more than 85 degrees, and the second preset angle is not less than 15 degrees and not more than 90 degrees.

5. The path planning device according to claim 4, characterized in that, The first preset angle is not less than 15 degrees and not more than 45 degrees, and the second preset angle is not less than 40 degrees and not more than 85 degrees.

6. The path planning device according to claim 5, characterized in that, The processor is further configured to determine the first preset angle and the second preset angle in the following manner: Based on the image data, the set point of the anterior limb of the internal capsule is located to obtain the positioning data of the set point; Based on the positioning data of the set point and the positioning data of the extreme point, the first preset angle and the second preset angle are determined.

7. The path planning device according to claim 1, characterized in that, The processor is further configured to locate the extreme points of the ventral contour of the accumbens core in the following manner: Based on the image data, a reference point is located, and a two-dimensional image of the brain corresponding to the reference point is generated. The two-dimensional image of the brain corresponding to the reference point includes one or more of the following: a coronal two-dimensional image, a sagittal two-dimensional image, and a transverse two-dimensional image. The extreme points of the ventral contour of the nucleus accumbens are located using a two-dimensional image of the brain corresponding to the reference point.

8. The path planning device according to claim 7, characterized in that, The reference point is the midpoint of the line connecting the anterior and posterior commissures of the brain; or, The reference point is the anterior commissure of the brain; or... The reference point is the posterior commissure of the brain.

9. The path planning device according to claim 7, characterized in that, The processor is further configured to locate the extreme points of the ventral contour of the accumbens core in the following manner: Receive adjustment operations for each of the two-dimensional images, and in response to the adjustment operations, adjust one or more of the following parameters of the two-dimensional images: brightness, contrast, saturation, exposure, hue, grayscale, and scaling. The extreme points of the ventral contour of the nucleus accumbens are located using the adjusted two-dimensional image.

10. The path planning device according to claim 9, characterized in that, The adjustment operation is an operation to adjust the parameter curve, and the adjustment operation is used to adjust the brightness, contrast, or grayscale of the two-dimensional image; or, The adjustment operation is an operation of adjusting the parameter progress bar. This adjustment operation is used to adjust the brightness, contrast, saturation, exposure, hue, grayscale, and scaling ratio of the two-dimensional image; or... The adjustment operation is an operation to adjust parameter values. The adjustment operation is used to adjust the brightness, contrast, saturation, exposure, hue, grayscale and scaling ratio of the two-dimensional image.

11. The path planning device according to claim 1, characterized in that, The processor is further configured to locate the extreme points of the ventral contour of the accumbens core in the following manner: Based on the image data, a three-dimensional model of the patient's brain is generated; The extreme points of the ventral contour of the nucleus accumbens are located using the three-dimensional model.

12. The path planning device according to claim 2, characterized in that, The processor is further configured to plan the path in the following manner: Based on the image data, a three-dimensional model of the patient's brain is generated; The three-dimensional model is displayed using a display device. The three-dimensional model includes the three-dimensional structure of the nucleus accumbens and the three-dimensional structure of the anterior limb of the internal capsule. Receive a path planning operation using an interactive device, and plan the path in response to the path planning operation.

13. A surgical system, characterized in that, The surgical system includes: The path planning device according to any one of claims 1-12, the path planning device being used to plan a path for implanting electrode leads into the brain of a patient; A surgical device for performing a procedure to implant the electrode wires into the patient's skull along the said path, such that the electrode wires make contact with the anterior limb of the internal capsule and the nucleus accumbens of one hemisphere of the patient's brain; The electrode wires are used to deliver electrical stimulation to the anterior limb of the internal capsule and the nucleus accumbens.

14. The surgical system according to claim 13, characterized in that, The contact between the electrode wire and the anterior limb of the internal capsule and the nucleus accumbens means that the electrode wire passes through the anterior limb of the internal capsule and the nucleus accumbens from top to bottom, from front to back, and from outside to inside. The patient's illness includes one or more of the following mental illnesses: depression, bipolar disorder, anxiety disorder, post-traumatic stress disorder, obsessive-compulsive disorder, behavioral disorder, mood disorder, memory disorder, mental state disorder, drug addiction, and autism.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the function of the path planning device according to any one of claims 1-12.

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