A method and device for planning a puncture path of a drainage tube

Abstract

The present invention relates to a method and a device for planning a puncture path of a drainage tube. It mainly includes: S100, segmenting a hematoma area to form each hematoma sub-area, determining the puncture path of each hematoma sub-area, and the puncture path forms the insertion path of the main tube of the drainage tube; S200, determining the drainage coverage area of each sub-tube in the drainage tube, and finding the optimal insertion point on the insertion path of the main tube of the drainage tube, so that the ratio of the sum of the drainage coverage areas of each sub-tube of each drainage tube to the corresponding hematoma sub-area is the largest. This method is beneficial to improving the coverage range of intraoperative hemolytic drug delivery and the efficiency of blood dissolution drainage.

Description

Technical Field

[0001] The present invention relates to the technical field of hematoma drainage, and particularly to a method for planning a puncture path of a drainage tube and a path planning device. Background Art

[0002] For a hematoma puncture drainage operation, a puncture path is planned based on CT images. In the puncture path planning, generally, the tube insertion position and the tube insertion depth are determined based on tomographic image information.

[0003] However, the tube insertion direction is difficult to accurately define on a two-dimensional image section, and more relies on the doctor's experience inference, which has certain risks.

[0004] A computer-aided system can accurately reconstruct a three-dimensional model of the patient's diseased part, and further assist in preoperative planning more stereoscopically, which can effectively ensure the reliability of the formulated puncture path.

[0005] However, although the current method for planning a puncture path of a drainage tube can determine a relatively optimal puncture path, the current method for planning a puncture path of a drainage tube is generally designed for a single-tube drainage tube. That is, there is only one channel in the drainage tube, which makes the coverage range of intraoperative hemolytic drug delivery and the efficiency of hemolytic drainage relatively low. Summary of the Invention

[0006] Based on this, a method for planning a puncture path of a drainage tube is provided. This method is designed for a drainage tube with multiple sub-tubes, and this method is beneficial to improving the coverage range of intraoperative hemolytic drug delivery and the efficiency of hemolytic drainage.

[0007] A method for planning a puncture path of a drainage tube includes:

[0008] Segmenting a hematoma region to form each hematoma sub-region,

[0009] Determining a puncture path for each hematoma sub-region, and the puncture path forms an insertion path of the main tube of the drainage tube,

[0010] Determining the drainage coverage area of each sub-tube in the drainage tube,

[0011] Finding an optimal insertion point on the insertion path of the main tube of the drainage tube, so that the ratio of the sum of the drainage coverage areas of each sub-tube of each drainage tube to the corresponding hematoma sub-region is the largest.

[0012] In one embodiment,

[0013] When determining the optimal puncture path for each hematoma sub-region, it is also based on a three-dimensional corticospinal nerve tract model to avoid the corticospinal nerve tract for the puncture path.

[0014] In one embodiment,

[0015] The method for establishing the three-dimensional corticospinal nerve tract model comprises:

[0016] Obtain the user's 3D fractional anisotropy map FA and 3D fractional anisotropy map FA training set and mark the corticospinal nerve tract starting position bounding box. Based on the 3D fractional anisotropy map FA training set and the marked corticospinal nerve tract starting position bounding box, train the corticospinal nerve tract starting area target detection artificial intelligence model.

[0017] The user's 3D fractional anisotropy map FA is input into the trained corticospinal tract starting area target detection artificial intelligence model, and the predicted starting area is output.

[0018] A seed point is formed based on the predicted starting area, and fiber bundle tracing is performed based on the seed point and the diffusion direction represented by the user's three-dimensional anisotropy fraction map to obtain a three-dimensional corticospinal nerve tract model.

[0019] In one embodiment,

[0020] The step of finding the optimal insertion point on the insertion path of the main tube of the drainage tube so as to maximize the ratio of the sum of the drainage coverage areas of the sub-tubes of the drainage tubes to the hematoma sub-area includes:

[0021] The position of the through hole at the end of the sub-tube is recorded as , where n is the hematoma sub-area The number of each sub-tube, i is the number of each sub-tube, j is the sub-tube number in each sub-tube group, j = 0, 1, 2, and a threshold is set to determine the effective drainage transmission coverage area of each sub-tube , determine the hematoma sub-area Movement search range of the end position of the main tube of the inner drainage tube , the length search range of the through hole position at the end of the extended sub-tube , the optimal inlet pipe depth and sub-pipe extension length are determined based on the following steps:

[0022] 1) With a fixed small step size Along the inlet direction ,right and Position sampling is performed between ;

[0023] 2) With a fixed small step size Along the extension direction of each sub-tube, and Length sampling is performed between ;

[0024] 3) Traverse the outer and inner loops and in various combined states, set the current minimum coverage rate: ,

[0025] a. Determine the position of the through hole at the end of the sub - tube , and determine the overall drainage transmission coverage area in this state , that is, take the union of all ;

[0026] b. Calculate the coverage rate between and the hematoma sub - region : ;

[0027] c. Compare and in size. If , record the current sub - scripts t and k, and ;

[0028] 4) According to the sub - scripts t and k finally determined in step 3, obtain the optimal tube - insertion position and the extension length of the sub - tube :

[0029] .

[0030] In one embodiment,

[0031] Dividing the hematoma area to form each hematoma sub - region, determining the puncture path of each hematoma sub - region, and the puncture path forms the insertion path of the main tube of the drainage tube, specifically including:

[0032] Determine multiple puncture and drainage needle - insertion areas on the outer surface of the skull and the initial cluster center positions corresponding to the three - dimensional hematoma model segmentation,

[0033] Perform clustering on the hematoma area,

[0034] Determine each tube - insertion position and the initial puncture path within the puncture and drainage needle - insertion area,

[0035] For each initial puncture path, use several planes perpendicular to it to divide the hematoma in the corresponding cluster area into equally spaced segments, and calculate the centroid position of each segment from the voxel coordinates of the hematoma falling within the segment,

[0036] The centroids of all segments form a point set, and use the least - squares fitting method to calculate a fitting line, that is, the optimized puncture path,

[0037] Project the tip position of the original puncture path onto the fitting line to obtain the tip position of the optimized puncture path, and calculate the intersection point of the optimized puncture path and the skin surface to obtain the puncture and needle - insertion position.

[0038] A drainage tube puncture path planning device

[0039] comprising a data acquisition module and a data processing module

[0040] The data acquisition module is used to acquire data

[0041] The data processing module is used to perform the following operations according to the acquired data:

[0042] Segment the hematoma area to form each hematoma sub - area

[0043] Determine the puncture path of each hematoma sub - area, and the puncture path forms the insertion path of the main tube of the drainage tube

[0044] Determine the drainage coverage area of each sub - tube in the drainage tube

[0045] Find the optimal insertion point on the insertion path of the main tube of the drainage tube, so that the ratio of the sum of the drainage coverage areas of each sub - tube of each drainage tube to the corresponding hematoma sub - area is the largest

[0046] A computer storage medium stores at least one executable instruction, and the executable instruction causes the processor to perform the operations corresponding to the drainage tube puncture path planning method

[0047] A computer device includes: a processor, a memory, a communication interface and a communication bus. The processor, the memory and the communication interface complete mutual communication through the communication bus. The memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the operations corresponding to the drainage tube puncture path planning method

[0048] The beneficial effects of this application are as follows:

[0049] This application segments the hematoma area to form each hematoma sub - area, plans the puncture path for the distribution of each hematoma sub - area. On this basis, it plans the path for the drainage tube with multiple sub - tubes, so that the ratio of the sum of the drainage coverage areas of each sub - tube of each drainage tube to the corresponding hematoma sub - area is the largest. This can effectively improve the coverage range of intraoperative hemolytic drug delivery and the efficiency of blood dissolution drainage

[0050] Moreover, this application also optimizes the segmentation method of the hematoma area, and the hematoma sub - areas formed after this segmentation method are more conducive to improving the drainage efficiency

[0051] Meanwhile, this application also provides a method for establishing a three-dimensional corticospinal tract model. By establishing the three-dimensional corticospinal tract model, the three-dimensional corticospinal tract can be avoided in the puncture path planning method, making the puncture path safer and more reasonable. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a flowchart of the drainage tube puncture path planning method for the embodiment of this application.

[0053] Figure 2 It is a schematic diagram of the three-dimensional model of the corticospinal tract generated by the method of the embodiment of this application.

[0054] Figure 3 It is an optimization method for the puncture path of each hematoma sub-region in the embodiment of this application.

[0055] Figure 4 It is a schematic diagram of the overall structure of the drainage tube with multiple sub-tubes in the embodiment of this application.

[0056] Figure 5 It is a schematic diagram of the internal structure of the drainage tube with multiple sub-tubes in the embodiment of this application.

[0057] Figure 6 It is a schematic diagram of the tube head in the embodiment of this application.

[0058] Figure 7 It is a cross-sectional view of the tube head in the embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0059] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention will be given in conjunction with the accompanying drawings.

[0060] As Figure 1 shown, the embodiment of this application provides a drainage tube puncture path planning method, including:

[0061] S100. Divide the hematoma region to form each hematoma sub-region, and determine the puncture path of each hematoma sub-region. The puncture path forms the insertion path of the main tube of the drainage tube.

[0062] S200. Determine the drainage coverage area of each sub-tube in the drainage tube, and find the optimal insertion point on the insertion path of the main tube of the drainage tube, so that the ratio of the sum of the drainage coverage areas of each sub-tube of each drainage tube to the corresponding hematoma sub-region is the largest.

[0063] Specifically, the basic image data required for the method of the present application includes the user's brain CT image scan data. Based on the user's brain CT image scan data, three-dimensional surface models of the patient's skin, skull, and hematoma can be reconstructed. In addition, if the user has also undergone Computed Tomography Angiography (CTA) scans, this data can be used to reconstruct a three-dimensional model of the cerebral arteries.

[0064] Furthermore, for hemorrhagic stroke, basal ganglia hemorrhage can damage corticospinal nerve fibers and cause paralysis. If diffusion MR images are further obtained through scanning, a three-dimensional model of the corticospinal nerve tract can be reconstructed to reveal spatially how the hematoma affects nerve cell connections. Avoidance can also be made in the puncture path planning.

[0065] Based on the above idea, in one embodiment, when determining the optimal puncture path for each hematoma sub-region, a three-dimensional corticospinal nerve tract model is also used to avoid the corticospinal nerve tract in the puncture path.

[0066] Specifically, the method for establishing the three-dimensional corticospinal nerve tract model includes:

[0067] Obtain the user's three-dimensional fractional anisotropy map FA and the three-dimensional fractional anisotropy map FA training set and label the bounding box of the starting position of the corticospinal nerve tract. Based on the three-dimensional fractional anisotropy map FA training set and the labeled bounding box of the starting position of the corticospinal nerve tract, train the corticospinal nerve tract starting region object detection artificial intelligence model. Input the user's three-dimensional fractional anisotropy map FA into the trained corticospinal nerve tract starting region object detection artificial intelligence model, output the predicted starting region, form seed points based on the predicted starting region, and then perform fiber tractography using the seed points and the diffusion direction represented by the user's three-dimensional fractional anisotropy map to obtain the three-dimensional corticospinal nerve tract model.

[0068] The following details the specific steps for obtaining the three-dimensional corticospinal nerve tract model.

[0069] Extract the brain region binary mask data from the user's high-resolution MR image based on the single atlas skull stripping algorithm or the multi-atlas skull stripping algorithm, resample it to a brain region binary mask with the same resolution as the diffusion weighted imaging data, and then multiply the mask with each direction component of the diffusion weighted imaging data. Use the Stejskal-Tanner formula to calculate the diffusion tensor image. Each voxel position (denoted as Vi) contains three eigenvalues, denoted as , which is a measure of the diffusion amplitude.

[0070] Automatically calculate the parameterized three-dimensional fractional anisotropy map FA from the diffusion tensor image, which can be obtained specifically through the following formula: . Where, It means taking the average. The above formula describes the measurement of the amplitude of anisotropic diffusion of water molecules in each voxel in the three-dimensional volume space, which is calculated from the three-dimensional diffusion tensor image. Each voxel in the three-dimensional diffusion tensor image is a 3x3 tensor matrix, and λ1, λ2, and λ3 are the three eigenvalues corresponding to this matrix. i is the index of the image pixel position, and j is the three directions of x, y, and z.

[0071] The three-dimensional fractional anisotropy map FA is used to describe the trend of anisotropic diffusion of water molecules, which is calculated from 3 eigenvalues, and its value range is from 0 to 1. Here, 0 represents that the diffusing molecules are completely isotropic, and 1 represents an extreme case where the diffusing molecules only diffuse in one direction (that is, the λ values in the other two directions are 0, and the λ value in this direction is 1, completely directionally anisotropic). A training set of fractional anisotropy maps is collected by calculating a large number of diffusion MR images, and the bounding boxes of the starting positions of the corticospinal tract are marked, and then an artificial intelligence model for object detection in the starting area of the corticospinal tract is trained.

[0072] The three-dimensional fractional anisotropy map FA of the user's brain is input into the trained artificial intelligence model for object detection in the starting area of the corticospinal tract, and the predicted starting area is calculated. Among them, the artificial intelligence model for object detection in the starting area of the corticospinal tract can apply the existing three-dimensional object detection (Object Detection) AI model.

[0073] Seed points are formed according to the predicted starting area, and then fiber tractography is performed by the seed points and the diffusion directions represented by the three-dimensional fractional anisotropy map FA of the user's brain (here, existing methods can be applied to achieve it), and a three-dimensional corticospinal tract model is obtained, as Figure 2 shown.

[0074] Using the rigid transformation obtained by registering the high-resolution MR image data in the user's diffusion MR image data with the CT image space (reference space) of the user, the reconstructed three-dimensional corticospinal tract model is transformed into the CT image space.

[0075] In one of the embodiments, the segmentation of the hematoma area to form each hematoma sub-area and determine the puncture path of each hematoma sub-area, and the puncture path forms the insertion path of the main tube of the drainage tube, specifically includes:

[0076] S110. Clinically, according to the three-dimensional shape of the hematoma and its spatial relationship with the three-dimensional brain structure, multiple puncture and drainage needle insertion areas are determined on the outer surface of the skull, denoted as , and the initial clustering center positions corresponding to the segmentation of the three-dimensional hematoma model, denoted as ;

[0077] S120. Use the three-dimensional K-means method to cluster the hematoma region. The initial point positions of each cluster are those specified in step S110. . First, calculate the distances from the voxels of each point in the hematoma region to each initial point . Determine which cluster a voxel belongs to based on the minimum distance . Calculate the mean center position of all voxels in each cluster as the initial point position of the cluster for the next iteration until the center positions of each cluster no longer move, denoted as . Each cluster is a sub-region of the hematoma, denoted as ;

[0078] S130. Determine the tube insertion positions of each sub-region of the hematoma within the puncture and drainage needle insertion region determined in step S110 , denoted as , and the initial puncture path, denoted as ;

[0079] S140. For each puncture path , use several planes perpendicular to it to divide the hematoma of the corresponding sub-region of the hematoma into equally spaced segments, and calculate the centroid position of each segment from the coordinates of the hematoma voxels falling within that segment;

[0080] S150. The centroids of all segments form a point set. Use the least squares fitting method to calculate a fitting line, which is the optimized puncture path. The puncture path optimized by this method takes into account the local geometric shape of each sub-region of the hematoma, well ensuring the drainage efficiency and reducing the actual needle insertion detours, reducing brain damage. Specifically, given a point on the path and the unit direction vector of this path, the fitting process is as follows:

[0081] a) For the K centroid positions calculated, here the least squares fitting is to minimize the sum of the squares f of the distances from the centroids to this line. Assume the projection of on this line is

[0082] ,

[0083] b) Assume is the angle between and . According to , there is ,

[0084] c) Combining the above formulas, there is:

[0085] ,

[0086] d) Differentiate , and we get , from Calculating gives , that is, the straight line passes through the central position (average value) of all centroids;

[0087] In addition, let , and the minimum value of f is the eigenvector corresponding to the minimum eigenvalue of A, which can be obtained by singular value decomposition. Let , and The first column of is the direction of the required straight line .

[0088] Among them, A is a matrix of K (rows) * 3 (columns), U1 is a matrix of size K * K, S is a matrix of size K * 3, and VT is a matrix of size 3 * 3. Specifically, both U1 and VT are unitary matrices in linear algebra, that is, they satisfy: the transpose matrix of U1 * U1 = I (the diagonal elements are 1 and the rest are 0), and the transpose matrix of VT * VT = I. In addition, S is all 0 except for the elements on the main diagonal, and each element on the main diagonal is a singular value. Here, there are three elements on the main diagonal, and these three singular values correspond to the three-dimensional direction vector.

[0089] The tip position of the original puncture path is projected onto the new straight line to obtain the tip position of the new puncture path. As Figure 3 shown, calculate the intersection point of the new puncture path and the skin surface to obtain the optimized puncture insertion position.

[0090] It should be noted that, as Figures 4 to 7 shown, the specific structure of the drainage tube with multiple sub-tubes applied in the method of the present application includes: an outer tube 130, several intermediate tubes 120 are arranged inside the outer tube 130, a sub-tube 110 is arranged inside each intermediate tube 120, a tube head 140 is arranged at one end of the outer tube 130, the outer tube 130 and the tube head 140 together form a main tube, the tube head 140 includes a cylindrical portion 1401 and a conical portion 1402, several guiding channels 1405 are arranged inside the tube head 140, the inlet 1403 of the guiding channel 1405 is communicated with the corresponding intermediate tube 120, the outlet 1404 of the guiding channel 1405 is arranged on the outer wall of the tube head 140, there is an included angle between the direction of the outlet 1404 of the guiding channel 1405 and the axial direction of the outer tube 130, a through hole 1101 is arranged at one end of the sub-tube 110 close to the tube head 140, and an auxiliary component is arranged at one end of the sub-tube 110 far from the tube head 140.

[0091] Specifically, the above-mentioned auxiliary component can be a syringe plunger 150. The syringe plunger 150 is provided at the end of the sub-tube 110, which facilitates a tight connection with the existing syringe nipple. When the drainage tube needs to be inserted into the brain, first move each sub-tube 110 so that the end of each sub-tube 110 retracts into the tube head 140 through the guiding channel 1405. In this way, during the process of inserting the drainage tube into the brain, the sub-tubes 110 will not be exposed outside, reducing the impact on the brain tissue. When the tube head 140 reaches the target position, extend each sub-tube 110 to the outside of the tube head 140 through the guiding channel 1405, and then operations such as drug administration or drainage can be carried out.

[0092] This multi-sub-tube puncture drainage tube can extend multiple sub-tubes from the tube head. For example, 3 sub-tubes can be extended. The three sub-tubes open at a certain angle, and the length of the sub-tubes can be adjusted according to the actual size of the hematoma. Such a design can make the hemolytic drug spread more quickly and effectively to the entire hematoma area, and greatly improve the drainage efficiency during the hemolysis drainage stage.

[0093] It should be noted that in the above method of this application, setting a threshold to determine the effective drainage transmission coverage area of each sub-tube can be achieved by using existing methods. For example, calculate the hematoma drainage kinetic diffusion model of each sub-tube. This kinetic diffusion model presents the shape of a three-dimensional field strength. The farther away from the through-hole at the end of the ion tube, the weaker the drainage or transmission ability, which can form a spherical equipotential surface. By setting a threshold, the effective drainage transmission range of each sub-tube can be determined, that is, the size of the drainage area that each sub-tube can cover. Furthermore, by adjusting the insertion depth of the main tube in the hematoma and the extension length of each sub-tube, the configuration with the highest efficiency can be dynamically searched.

[0094] Based on the above idea, in one embodiment, finding the optimal insertion point on the insertion path of the main tube of the drainage tube so that the ratio of the sum of the drainage coverage areas of each sub-tube of each drainage tube to the hematoma sub-region is the largest specifically includes:

[0095] The position of the through-hole at the end of the sub-tube is denoted as , where n is the number of the hematoma sub-region , i is the number of each group of sub-tubes, and j is the number of sub-tubes within each group of sub-tubes. For example, j = 0, 1, 2. By setting a threshold to determine the effective drainage transmission coverage area of each sub-tube , determine the moving search range of the end position of the main tube of the drainage tube within the hematoma sub-region , , , that is, the moving search range of the tip position of the tube head, and the search range of the position of the through-hole at the end of the extended sub-tube , and traverse based on the following steps to determine the optimal tube insertion depth and sub-tube extension length:

[0096] 1) With a fixed small spacing step Along the inlet pipe direction , sample the positions between and , denoted as ;

[0097] 2) With a fixed small spacing step Along the extension direction of each sub - pipe, sample the lengths between and , denoted as ;

[0098] 3) Traverse all combinations of states of and using outer and inner two - layer loops, and set the current minimum coverage rate: ,

[0099] 3a. Determine the positions of the through - holes at the ends of each sub - pipe , and determine the overall drainage transmission coverage area of each sub - pipe at this position , that is, take the union of all , which is the sum of the effective drainage coverage areas of each sub - pipe,

[0100] 3b. Calculate the coverage rate between and the hematoma sub - region : ,

[0101] 3c. Compare the sizes of and . If , record the current sub - scripts t and k, and ;

[0102] 4) According to the sub - scripts t and k finally determined in step 3, obtain the optimal inlet pipe position and the extension length of the sub - pipe : .

[0103] The above - mentioned optimal inlet pipe position is the position corresponding to the optimal insertion depth of the main pipe. The above - mentioned optimal extension length of the sub - pipe corresponds to the optimal position where the through - hole at the end of the sub - pipe is located.

[0104] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A drainage tube puncture path planning method, characterized in that: include: Segment the hematoma area to form various hematoma sub-areas. Determine the puncture path of each hematoma sub-region, the puncture path forming the insertion path of the main tube of the drainage tube, Determine the drainage coverage area of each sub-tube in the drainage tube, An optimal insertion point is found on the insertion path of the main tube of the drainage tube so that the ratio of the sum of the drainage coverage areas of each sub-tube of each drainage tube to the corresponding hematoma sub-area is maximized.

2. The drainage tube puncture path planning method according to claim 1, characterized in that: When determining the optimal puncture path for each hematoma sub-region, the three-dimensional corticospinal tract model is also used to ensure that the puncture path avoids the corticospinal tract.

3. The drainage tube puncture path planning method according to claim 2, characterized in that: The method for establishing the three-dimensional corticospinal nerve tract model comprises: Obtain the user's 3D fractional anisotropy map FA and 3D fractional anisotropy map FA training set and mark the corticospinal nerve tract starting position bounding box. Based on the 3D fractional anisotropy map FA training set and the marked corticospinal nerve tract starting position bounding box, train the corticospinal nerve tract starting area target detection artificial intelligence model. The user's 3D fractional anisotropy map FA is input into the trained corticospinal tract starting area target detection artificial intelligence model, and the predicted starting area is output. A seed point is formed based on the predicted starting area, and fiber bundle tracing is performed based on the seed point and the diffusion direction represented by the user's three-dimensional anisotropy fraction map to obtain a three-dimensional corticospinal nerve tract model.

4. The drainage tube puncture path planning method according to claim 1, characterized in that: The step of finding the optimal insertion point on the insertion path of the main tube of the drainage tube so as to maximize the ratio of the sum of the drainage coverage areas of the sub-tubes of the drainage tubes to the hematoma sub-area includes: The position of the through hole at the end of the sub-tube is recorded as , where n is the hematoma sub-area The number of each sub-tube, i is the number of each sub-tube, j is the sub-tube number in each sub-tube group, j = 0, 1, 2, and the effective drainage transmission coverage area of each sub-tube is determined by setting a threshold , determine the hematoma sub-area Movement search range of the end position of the main tube of the inner drainage tube , stretch the search range of the end through hole of the sub-tube , the optimal inlet pipe depth and sub-pipe extension length are determined based on the following steps: 1) With a fixed small step size Along the inlet direction ,right and Position sampling is performed between ; 2) With a fixed small step size Along the extension direction of each sub-tube, and Length sampling is performed between ; 3) Traverse the outer and inner loops and Various combination states of , set the current minimum coverage: , a. Determine the position of the through hole at the end of the sub-tube , determine the overall drainage transmission coverage area at this location , that is, take all The union of b. Calculation Subarea with hematoma Coverage between: , c. Comparison and Size, if , record the current subscripts t and k, and , 4) Based on the final subscripts t and k determined in step 3, the optimal inlet position is obtained and sub-tube extension length : 。 5. The drainage tube puncture path planning method according to claim 1, characterized in that: The segmenting of the hematoma region to form hematoma sub-regions and determining puncture paths for the hematoma sub-regions, wherein the puncture paths form insertion paths for the main tube of the drainage tube, specifically includes: Determine multiple puncture and drainage needle areas on the outer surface of the skull and the initial cluster center positions corresponding to the segmentation of the three-dimensional hematoma model. Clustering of hematoma areas. Determine the position of each inlet tube and the initial puncture path within the puncture and drainage needle area. For each initial puncture path, the hematoma in the corresponding cluster area is divided into equally spaced segments using several planes perpendicular to it, and the centroid position of the segment is calculated from the coordinates of the hematoma voxels falling within the segment. The centroids of all segments form a point set, and the least squares fitting method is used to calculate a fitting line, which is the optimized puncture path. The needle tip position of the original puncture path is projected onto the fitting line to obtain the needle tip position of the optimized puncture path. The intersection point of the optimized puncture path and the skin surface is calculated to obtain the puncture needle insertion position.

6. A drainage tube puncture path planning device, characterized in that: Including data acquisition module and data processing module, The data acquisition module is used to acquire data. The data processing module is used to perform the following operations based on the obtained data: Segment the hematoma area to form various hematoma sub-areas. Determine the puncture path of each hematoma sub-region, the puncture path forming the insertion path of the main tube of the drainage tube, Determine the drainage coverage area of each sub-tube in the drainage tube, An optimal insertion point is found on the insertion path of the main tube of the drainage tube so that the ratio of the sum of the drainage coverage areas of each sub-tube of each drainage tube to the corresponding hematoma sub-area is maximized.

7. A computer storage medium, characterized in that The computer storage medium stores at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the drainage tube puncture path planning method according to any one of claims 1 to 5.

8. A computer device, characterized in that: include: A processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus, and the memory is used to store at least one executable instruction, wherein the executable instruction enables the processor to perform an operation corresponding to the drainage tube puncture path planning method according to any one of claims 1 to 5.

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