Surgical planning apparatus and method, surgical planning system, and storage medium

Abstract

The invention provides operation planning equipment, an operation planning method, an operation planning system and a computer readable storage medium for skull implantation. The surgical planning device includes a memory and at least one processor configured to implement the following steps when executing a computer program: determining a first set of pre-selected regions from a skull image model of a patient; according to collision screening conditions, determining a second pre-selected region set from the skull image model through a device three-dimensional model of the implanted device; determining a third pre-selected region set from the skull image model through the equipment three-dimensional model according to a fitting judgment condition; and according to the determined first pre-selected region set, the second pre-selected region set and the third pre-selected region set, obtaining and displaying at least one target pre-selected region from the skull image model. According to the method, three dimensions of thickness constraint, collision screening and fitting judgment are combined, comprehensive consideration is carried out to obtain the target pre-selected area, and the implantation effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, for example, to a surgical planning device, a surgical planning method, a surgical planning system and a computer-readable storage medium. Background Art

[0002] In some disease treatment surgical plans, medical devices are chosen to be implanted as implants in the patient's skull. In order to reduce the surgical risks brought by this procedure, and considering that the implant device has a certain size, implantation may cause greater scalp tension, affecting the healing of the incision after suture and the aesthetic effect, or compressing the intracranial brain tissue and causing clinical risks. Therefore, it is necessary to plan the implant location before surgery.

[0003] The relevant planning method is to select a rough range on the patient's skull to perform skull resection or bone grinding based on the doctor's experience and implant the medical device. Due to the individual differences in the patient's skull, the process of determining the implant position solely through preoperative imaging data is too dependent on the doctor's own experience, which can easily lead to the implant device and the skull not fitting as well as expected, affecting the overall implant effect.

[0004] Based on this, the present application provides a surgical planning device, a surgical planning method, a surgical planning system and a computer-readable storage medium for skull implantation to solve the problems existing in the above-mentioned technologies. Summary of the invention

[0005] The purpose of the present application is to provide a surgical planning device, a surgical planning method, a surgical planning system and a computer-readable storage medium for skull implantation, so as to solve the problem that the doctor's implanted device does not fit the skull as well as expected.

[0006] The purpose of this application is achieved by the following technical solutions:

[0007] In a first aspect, the present application provides a surgical planning device for skull implantation, the surgical planning device comprising a memory and at least one processor, the memory storing a computer program, and the at least one processor being configured to implement the following steps when executing the computer program:

[0008] Determining a first set of preselected regions from a skull image model of the patient according to a thickness constraint, wherein the first set of preselected regions includes at least one first preselected region;

[0009] According to the collision screening condition, determining a second preselected region set from the skull image model by using the device three-dimensional model of the implanted device, wherein the second preselected region set includes at least one second preselected region;

[0010] According to the fitting judgment condition, determining a third pre-selected area set from the skull image model by using the device three-dimensional model, wherein the third pre-selected area set includes at least one third pre-selected area;

[0011] Based on the determined first preselected area set, the second preselected area set and the third preselected area set, at least one target preselected area is acquired and displayed from the skull image model to assist in selecting the implantation position of the implant device in the skull.

[0012] The beneficial effect of this technical solution is that according to the preset skull thickness constraint, by analyzing the patient's skull imaging data, an area with a suitable thickness is determined as the first pre-selected area for implantation, ensuring that the implant device has enough space for implantation and fits well with the skull. The three-dimensional model of the implant device and the skull imaging model are subjected to collision screening, so that the feasible position of the implant device in the skull can be determined, and a safe distance from important anatomical structures can be maintained and collision with important anatomical structures can be avoided. The three-dimensional model of the implant device and the skull imaging model are subjected to fit judgment, for example, by calculating the curvature difference between the three-dimensional model of the device and the skull surface, an area that fits well with the skull surface (i.e., an area that meets the fit judgment condition) can be found. By integrating and comprehensively considering the information of the first, second and third pre-selected areas, one or more target pre-selected areas are selected from the three dimensions of thickness constraint, collision screening and fit judgment for the selection of the implant position of the implant device in the skull, in order to achieve the best implant effect and surgical results.

[0013] On the one hand, the above steps are combined to obtain the target pre-selected area from three dimensions: thickness constraint, collision screening, and fit judgment, which reduces the reliance on the doctor's experience and increases the accuracy of implantation of the implant device. On the other hand, by displaying the target pre-selected area, it provides an intuitive reference for doctors, enabling them to better select the best implantation position, improving surgical results and patient safety.

[0014] To sum up, the three dimensions of thickness constraint, collision screening and fit judgment are comprehensively considered to obtain the target pre-selected area. That is to say, this technical solution does not directly obtain the target pre-selected area from a single item of thickness constraint, collision screening or fit judgment. Therefore, it can more comprehensively evaluate the compatibility and mutual influence between the implant device and the skull, and then obtain the target pre-selected area, reduce dependence on the doctor's experience, and provide more comprehensive information and auxiliary decision-making when the doctor determines the implant position, thereby solving the problem of poor implant effect caused by the doctor's sole reliance on preoperative imaging data to determine the implant position.

[0015] In some possible implementations, the at least one processor is configured to acquire the skull image model in the following manner when executing the computer program:

[0016] The skull image data of the patient is acquired, and a skull image model of the patient is reconstructed according to the skull image data.

[0017] The beneficial effect of this technical solution is that the skull imaging data can provide detailed skull structure information, including the shape, size, thickness and position of the skull. The skull imaging data of the patient is processed and analyzed by using computer technology and image processing algorithms, and the two-dimensional imaging data is converted into a skull model with three-dimensional geometric information to reconstruct the skull imaging model of the patient.

[0018] Therefore, by acquiring the patient's skull imaging data and reconstructing it, an individualized skull imaging model can be obtained, which can provide important information and reference for the selection of implant devices and surgical planning, thereby improving the surgical effect and patient treatment outcomes.

[0019] In some possible implementations, the skull image model is used to display the thickness of different positions of the patient's skull, and the thickness constraint is used to limit the first pre-selected area to a preset skull thickness range; and the at least one processor is configured to determine the first pre-selected area set in the following manner when executing the computer program:

[0020] Acquire areas in the skull image model that meet the skull thickness range, and according to the importance score of the brain tissue in the areas that meet the skull thickness range, place one or more areas that meet the skull thickness range into the first pre-selected area set.

[0021] The beneficial effect of this technical solution is that through the patient's skull imaging model, the thickness information of the skull at different positions can be obtained to show the thickness distribution of the skull in different areas. The thickness constraint condition can be set according to the preset skull thickness range. The constraint condition limits the thickness of the first pre-selected area to meet a specific range requirement, such as not too thick or too thin. In order to obtain the area that meets the thickness constraint condition, the skull imaging model can be analyzed to screen out the area that meets the skull thickness range. On this basis, the importance of the brain tissue in the area that meets the thickness range is scored to further determine the first pre-selected area. It can be understood that the importance score can be obtained according to predetermined standards, such as the functional importance or risk sensitivity of different locations of brain tissue.

[0022] Therefore, by using the skull imaging model to display the thickness at different locations and setting thickness constraints to obtain the first preselected area that meets the requirements, individualized information and guidance can be provided in the selection of implant devices and surgical planning, thereby improving surgical results and patient safety.

[0023] In some possible implementations, the at least one processor is configured to determine the second pre-selected area set in the following manner when executing the computer program:

[0024] For each first pre-selected area, perform the following processing:

[0025] In response to a collision screening operation of moving the three-dimensional model of the device within the first pre-selected area, detecting whether there is an area meeting the collision screening condition within the first pre-selected area;

[0026] If so, one or more regions meeting the collision screening condition are placed into the second pre-selected region set.

[0027] The beneficial effect of this technical solution is that: the three-dimensional model of the device is moved in the first pre-selected area, and whether there is an area that meets the collision screening conditions is detected. In the collision screening operation, a variety of conditions can be considered, such as the minimum gap between the implanted device and the brain tissue. By performing appropriate collision detection and analysis, it can be determined whether there is an area that meets the collision screening conditions. If there are areas that meet the collision screening conditions, these areas are used as the second pre-selected area. It can be considered that the second pre-selected area has been verified by the collision screening operation and has more suitable characteristics for implanting the device than other areas where collisions may exist. On the one hand, by performing a collision screening operation, an area that meets the collision screening conditions can be determined in the first pre-selected area as the second pre-selected area, helping doctors to further narrow the selection range of implantation positions, avoid collisions or interference between implanted devices and surrounding structures, and improve the safety and success rate of the operation. On the other hand, by performing a collision screening operation in the first pre-selected area, the number of screenings can be reduced and the speed of implantation position selection can be accelerated.

[0028] In some possible implementations, the three-dimensional model of the device includes an upper surface and a lower surface that are arranged opposite to each other, and the collision screening condition includes at least one of the following:

[0029] When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the upper surface is in contact with the imaginary surface, the lower surface is not in contact with the inner surface of the skull image model;

[0030] When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the upper surface is in contact with the outer surface of the skull image model, the lower surface is not in contact with the inner surface of the skull image model;

[0031] When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the lower surface is in contact with the inner surface, the upper surface is not in contact with the outer surface of the skull imaging model;

[0032] When the three-dimensional model of the device is placed in the first preselected area in a horizontal or vertical direction and the lower surface is in contact with the inner surface, the upper surface is not in contact with the imaginary surface of the skull image model;

[0033] The imaginary surface is a reference surface obtained by path shifting the outer surface of the skull image model away from the brain tissue according to a preset distance.

[0034] The beneficial effect of this technical solution is that: based on the patient's skull imaging data, a skull imaging model is generated and an imaginary surface is determined. When the three-dimensional model of the device is placed horizontally or vertically, the position and posture of the device are adjusted so that the upper surface of the device fits with the imaginary surface. During the collision simulation of the device implantation, the lower surface of the three-dimensional model of the device is prevented from contacting the inner surface of the skull imaging model. By fitting the upper surface of the device with the imaginary surface, the contact area between the device and the skull during the implantation process is minimized, thereby reducing possible collisions and conflicts, and reducing the risk of injury during and after the implantation process (the implanted device will not compress the brain tissue). In addition, when the upper surface fits the outer surface of the skull, if the lower surface does not contact the inner surface of the skull, the internal contact between the device and the skull can be avoided, which helps to ensure the fit of the implanted device to the skull during the skull implantation process, and reduces interference with the internal structure of the skull, which helps to improve the implantation effect. When the lower surface fits the inner surface of the skull, the upper surface does not contact the outer surface of the skull. By fitting the lower surface to the inner surface of the skull, it is possible to ensure that the implanted device is in full contact with the inner surface of the skull and avoid external contact between the device and the skull, which helps to ensure the fit of the device to the skull during the skull implantation process and helps to improve the implantation effect. When the lower surface fits the inner surface of the skull, the upper surface does not contact the imaginary surface of the skull. This collision screening condition takes into account the existence of the imaginary surface, which is a reference surface obtained by shifting the outer surface of the skull imaging model away from the brain tissue at a preset distance through a path. That is to say, when the lower surface of the device fits the inner surface of the skull, it is ensured that the upper surface of the device does not contact the imaginary surface of the skull, which helps to take into account the imaginary surface of the skull during the device implantation process, maintain the fit of the device to the skull, and thus improve the implantation effect.

[0035] In some possible implementations, the at least one processor is configured to perform the collision screening operation in the following manner when executing the computer program:

[0036] According to a first preset step length, the position of the three-dimensional model of the device is moved within the first preselected area to obtain rough screening information;

[0037] According to the rough screening information, the position of the equipment three-dimensional model is moved within the first preselected area according to a second preset step length to obtain an area that meets the collision screening condition, and the second preset step length is smaller than the first preset step length.

[0038] The beneficial effect of this technical solution is as follows: the position of the three-dimensional model of the device is moved within the first preselected area according to the first preset step length. At each moving position, it is detected whether the three-dimensional model of the device collides with the skull image model to obtain rough screening information. Based on the rough screening information, the position of the three-dimensional model of the device is moved within the first preselected area according to the second preset step length. At each moving position, the collision between the three-dimensional model of the device and the skull image model is further detected to obtain more detailed collision information, which is used to indicate whether there is an area that meets the collision screening conditions. Among them, the setting of the first preset step length to be larger than the second preset step length is to determine possible candidate areas more quickly in the preliminary screening stage, and to more finely judge the final qualified areas in the further screening stage.

[0039] In some possible implementations, the at least one processor is configured to determine the third pre-selected area set in the following manner when executing the computer program:

[0040] For each second pre-selected area, perform the following processing:

[0041] In response to a fit determination operation of moving the three-dimensional model of the device within the second preselected area, a plurality of projection results of the three-dimensional model of the device are acquired on the outer surface of the skull;

[0042] According to the fit between the upper surface of the three-dimensional model of the device and each of the projection results, detecting whether there is an area meeting the fit judgment condition in the second pre-selected area;

[0043] If so, one or more regions meeting the fit judgment condition are placed into the third pre-selected region set.

[0044] The beneficial effect of this technical solution is that the projection result of the three-dimensional model of the device and the fit between the projection result and the three-dimensional model of the device are used to guide the determination of the third pre-selected area. By analyzing the fit of the projection result, the area that best fits the device surface can be screened out, providing doctors with more accurate implantation position selection.

[0045] In some possible implementations, the at least one processor is configured to acquire and display at least one target pre-selected area in the following manner when executing the computer program:

[0046] At least one of the third pre-selected areas is used as a target pre-selected area and displayed.

[0047] The beneficial effect of this technical solution is that the third pre-selected area has been comprehensively considered based on multiple factors such as thickness constraints, collision screening and fit judgment after the screening process of the above technical solution. Therefore, taking the third pre-selected area as the target pre-selected area can provide certain feasibility and practicality, which helps to provide doctors with a more valuable reference for implant location selection.

[0048] In a second aspect, the present application further provides a surgical planning method for skull implantation, the method comprising: determining a first set of preselected regions from a skull image model of a patient according to a thickness constraint, the first set of preselected regions comprising at least one first preselected region;

[0049] According to the collision screening condition, determining a second preselected region set from the skull image model by using the device three-dimensional model of the implanted device, wherein the second preselected region set includes at least one second preselected region;

[0050] According to the fitting judgment condition, determining a third pre-selected area set from the skull image model by using the device three-dimensional model, wherein the third pre-selected area set includes at least one third pre-selected area;

[0051] Based on the determined first preselected area set, the second preselected area set and the third preselected area set, at least one target preselected area is acquired and displayed from the skull image model to assist in selecting the implantation position of the implant device in the skull.

[0052] In some possible implementations, determining the first preselected region set from the patient's skull image model includes: acquiring skull image data of the patient, and reconstructing the patient's skull image model based on the skull image data.

[0053] In some possible implementations, the skull image model is used to display the thickness of different positions of the patient's skull, and the thickness constraint is used to limit the first pre-selected area to a preset skull thickness range; the method of determining the first pre-selected area set includes:

[0054] Acquire areas in the skull image model that meet the skull thickness range, and according to the importance score of the brain tissue in the areas that meet the skull thickness range, place one or more areas that meet the skull thickness range into the first pre-selected area set.

[0055] In some possible implementations, a method of determining the second pre-selected area set includes:

[0056] For each first pre-selected area, performing the following processing: in response to a collision screening operation of moving the three-dimensional model of the device within the first pre-selected area, detecting whether there is an area that meets the collision screening condition within the first pre-selected area;

[0057] If so, one or more regions meeting the collision screening condition are placed into the second pre-selected region set.

[0058] In some possible implementations, the three-dimensional model of the device includes an upper surface and a lower surface that are arranged opposite to each other, and the collision screening condition includes at least one of the following:

[0059] When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the upper surface is in contact with the imaginary surface, the lower surface is not in contact with the inner surface of the skull image model;

[0060] When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the upper surface is in contact with the outer surface of the skull image model, the lower surface is not in contact with the inner surface of the skull image model;

[0061] When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the lower surface is in contact with the inner surface, the upper surface is not in contact with the outer surface of the skull imaging model;

[0062] When the three-dimensional model of the device is placed in the first preselected area in a horizontal or vertical direction and the lower surface is in contact with the inner surface, the upper surface is not in contact with the imaginary surface of the skull image model;

[0063] The imaginary surface is a reference surface obtained by path shifting the outer surface of the skull image model away from the brain tissue according to a preset distance.

[0064] In some possible implementations, the collision screening operation may be performed in the following manner:

[0065] According to a first preset step length, the position of the three-dimensional model of the device is moved within the first preselected area to obtain rough screening information;

[0066] According to the rough screening information, the position of the three-dimensional model of the device is moved within the first preselected area according to a second preset step length to obtain an area that meets the collision screening condition, and the second preset step length is smaller than the first preset step length.

[0067] In some possible implementations, a method of determining the third pre-selected area set includes: for each second pre-selected area, performing the following processing:

[0068] In response to a fit determination operation of moving the three-dimensional model of the device within the second preselected area, a plurality of projection results of the three-dimensional model of the device are acquired on the outer surface of the skull;

[0069] According to the fit between the upper surface of the three-dimensional model of the device and each of the projection results, detecting whether there is an area meeting the fit judgment condition in the second pre-selected area;

[0070] If so, one or more regions meeting the fit judgment condition are placed into the third pre-selected region set.

[0071] In some possible implementations, the method of obtaining and displaying at least one target pre-selected area includes:

[0072] At least one of the third pre-selected areas is used as a target pre-selected area and displayed.

[0073] In a third aspect, the present application provides a surgical planning system, the system comprising:

[0074] The surgical planning device according to any one of the first aspects, wherein the surgical planning device is used to obtain at least one target preselected area;

[0075] A display device is used to display the target pre-selected area.

[0076] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, which, when executed by at least one processor, implements the functions of the surgical planning device described in any one of the above items, or implements the steps of any one of the methods described in any one of the above items.

[0077] In a fifth aspect, the present application provides a computer program product, which includes a computer program, and when the computer program is executed by at least one processor, it implements the functions of the surgical planning device described in any one of the above, or implements the steps of any one of the above methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] The present application is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0079] Figure 1 It is a flowchart of a surgical planning method for skull implantation provided in an embodiment of the present application.

[0080] Figure 2 It is a schematic diagram of a process for determining a second pre-selected area provided in an embodiment of the present application.

[0081] Figure 3It is a schematic diagram of a process for determining a third pre-selected area provided in an embodiment of the present application.

[0082] Figure 4 This is a schematic diagram of the position of a skull and an implant device provided in an embodiment of the present application.

[0083] Figure 5 This is a schematic diagram of the positions of a skull and an implant device when a thickness constraint condition is met, provided in an embodiment of the present application.

[0084] Figure 6 This is another schematic diagram of the positions of the skull and the implant device when the thickness constraint condition is met, provided in an embodiment of the present application.

[0085] Figure 7 It is a structural schematic diagram of a surgical planning system provided in an embodiment of the present application.

[0086] Figure 8 It is a structural diagram of a computer program product provided in an embodiment of the present application. DETAILED DESCRIPTION

[0087] The technical solution in the present application will be described below in conjunction with the drawings and specific implementation methods of the specification of the present application. It should be noted that, under the premise of no conflict, the various implementation methods or technical features described below can be arbitrarily combined to form a new implementation method.

[0088] In the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any implementation or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other implementations or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0089] The first, second, etc. descriptions appearing in the embodiments of the present application are only used for illustration and distinction of the description objects. There is no order, nor does it indicate any special limitation on the quantity in the embodiments of the present application, and cannot constitute any limitation on the embodiments of the present application.

[0090] Below, one of the application fields (i.e., implantable medical system) of the embodiment of the present application is briefly described.

[0091] An implantable neurostimulation system (an implantable medical system) mainly includes a stimulator implanted in the patient's body (i.e., an implantable neurostimulator, a neurostimulation device) and a programmable device arranged outside the patient's body. The relevant neuroregulatory technology mainly implants electrodes in specific parts of the tissue of the organism (i.e., the target point) through stereotactic surgery, and the stimulator implanted in the patient's body sends electrical pulses to the target point through the electrodes to regulate the electrical activity and function of the corresponding neural structure and network, thereby improving symptoms and relieving pain. Among them, the stimulator can be any one of an implantable neural electrical stimulation device, an implantable cardiac electrical stimulation system (also known as a pacemaker), and an implantable drug delivery system (Implantable Drug Delivery System, referred to as IDDS). Implantable neural electrical stimulation devices include, for example, Deep Brain Stimulation (DBS), Implantable Cortical Nerve Stimulation (CNS), Implantable Spinal Cord Stimulation (SCS), Implantable Sacral Nerve Stimulation (SNS), Implantable Vagus Nerve Stimulation (VNS), etc. That is, the implanted device mentioned in this application can be any of the stimulators mentioned above. The following mainly uses the Deep Brain Stimulation system as an example for explanation. The implanted device can be a pulse generator.

[0092] As an example, DBS includes an implantable pulse generator (IPG), an extension lead and an electrode lead, and the IPG is connected to the electrode lead via the extension lead. The IPG is implanted in the patient's body, for example, in the patient's chest or other body parts.

[0093] As another example, DBS includes an IPG and an electrode lead, and the IPG is directly connected to the electrode lead. The IPG is implanted in the patient's head, for example, a groove is made in the patient's skull, and then the IPG is installed in the groove of the skull. In this case, the IPG may not protrude from the outer surface of the skull, or may partially protrude from the outer surface of the skull.

[0094] In some possible ways, the IPG receives the program-controlled instructions sent by the program-controlled device, relies on the sealed battery and the circuit to provide controllable electrical stimulation energy to the tissue in the body, and delivers one or two controllable specific electrical stimulations to specific areas of the tissue in the body through the implanted extension wire and the electrode wire. The extension wire is used in conjunction with the IPG as a transmission medium for the electrical stimulation signal, and transmits the electrical stimulation signal generated by the IPG to the electrode wire. The electrode wire can be a nerve stimulation electrode, and the electrode wire delivers electrical stimulation to a specific area of ​​the tissue in the body through a plurality of electrode contacts. The stimulator is provided with one or more electrode wires on one side or both sides, and a plurality of electrode contacts are provided on the electrode wire, and the electrode contacts can be arranged uniformly or non-uniformly on the circumference of the electrode wire. As an example, the electrode contacts can be arranged in an array of 4 rows and 3 columns (a total of 12 electrode contacts) on the circumference of the electrode wire. The electrode contacts can include stimulation contacts and / or collection contacts. The electrode contacts can be in the shape of sheets, rings, dots, etc.

[0095] In some possible ways, the stimulated in vivo tissue may be the patient's brain tissue, and the stimulated site may be a specific site of the brain tissue. When the patient's disease type is different, the stimulated site is generally different, and the number of stimulation contacts (single source or multiple sources), the use of one or more (single channel or multiple channels) of specific electrical stimulation signals, and the stimulation parameter data are also different. It can be considered that when the stimulation contacts used are multi-source, multi-channel (multi-channel), a larger amount of data will be generated compared to a single source, single channel.

[0096] The embodiments of the present application do not limit the types of diseases that can be used, and can be diseases that deep brain stimulation (DBS), spinal cord stimulation (SCS), sacral nerve stimulation, gastric stimulation, peripheral nerve stimulation, and functional electrical stimulation can be used for. Among them, the types of diseases that DBS can be used to treat or manage include, but are not limited to: spastic diseases (e.g., epilepsy), pain, migraine, mental illness (e.g., major depressive disorder (MDD)), bipolar disorder, anxiety, 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, drug addiction, autism or other neurological or psychiatric diseases and injuries.

[0097] In the embodiment of the present 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), or the stimulator can be used to sense the bioelectric activity deep in the patient's brain to collect electrophysiological signals, and the collected electrophysiological signals can be used to continue to adjust the stimulation parameters of the stimulator's electrical stimulation signals.

[0098] Stimulation parameters may include: frequency (for example, the number of electrical stimulation pulse signals within a unit time of 1s, in Hz), pulse width (duration of each pulse, in μs), amplitude (generally expressed in voltage, that is, the intensity of each pulse, in V), timing (for example, it can be continuous or triggered), stimulation mode (including one or more of current mode, voltage mode, timed stimulation mode and cyclic stimulation mode), one or more of the upper and lower limits controlled by the doctor (the range adjustable by the doctor) and the upper and lower limits controlled by the patient (the range adjustable by the patient).

[0099] In a specific application scenario, various stimulation parameters of the stimulator can be adjusted in current mode or voltage mode.

[0100] The program-controlled device may be a doctor program-controlled device (i.e., a program-controlled device used by a doctor) or a patient program-controlled device (i.e., a program-controlled device used by a patient). The doctor program-controlled device may be, for example, a tablet computer, a laptop computer, a desktop computer, a mobile phone or other intelligent terminal device equipped with program-controlled software. The patient program-controlled device may be, for example, a tablet computer, a laptop computer, a desktop computer, a mobile phone or other intelligent terminal device equipped with program-controlled software. The patient program-controlled device may also be other electronic devices with program-controlled functions (e.g., a charger with program-controlled functions, a data acquisition device).

[0101] The embodiment of the present application does not restrict the data interaction between the doctor's programmable device and the stimulator. When the doctor performs remote programming, the doctor's programmable device can interact with the stimulator through the server and the patient's programmable device. When the doctor performs offline programming with the patient face to face, the doctor's programmable device can interact with the stimulator through the patient's programmable device, and the doctor's programmable device can also interact with the stimulator directly.

[0102] In some optional embodiments, the patient programmable device may include a host (communicating with a server) and a slave (communicating with a stimulator), and the host and the slave are communicatively connected. Among them, the doctor programmable device can exchange data with the server through a 3G / 4G / 5G network, the server can exchange data with the host through a 3G / 4G / 5G network, the host can exchange data with the slave through a Bluetooth protocol / WIFI protocol / USB protocol, the slave can exchange data with the stimulator through a 401MHz-406MHz working frequency band / 2.4GHz-2.48GHz working frequency band, and the doctor programmable device can directly exchange data with the stimulator through a 401MHz-406MHz working frequency band / 2.4GHz-2.48GHz working frequency band.

[0103] The present application provides a surgical planning device, a surgical planning method, a surgical planning system, a computer-readable storage medium and a computer program product, which comprehensively consider the three dimensions of thickness constraint, collision screening and fit judgment, and can more comprehensively evaluate the compatibility and mutual influence between the implant device and the skull, thereby obtaining the target preselected area, reducing dependence on the doctor's experience, and providing more comprehensive information and auxiliary decision-making when the doctor determines the implant position, so as to improve related technologies.

[0104] The following will first describe a surgical planning method for cranial implantation, and then describe a surgical planning device.

[0105] Method Embodiment

[0106] See also Figure 1 , Figure 1 It is a flowchart of a surgical planning method for skull implantation provided in an embodiment of the present application.

[0107] A surgical planning method for skull implantation, the surgical planning method comprising:

[0108] Step S101: determining a first pre-selected region set from a skull image model of a patient according to a thickness constraint; the first pre-selected region set includes at least one first pre-selected region;

[0109] Step S102: determining a second pre-selected region set from the skull image model through the device three-dimensional model of the implant device according to the collision screening condition; the second pre-selected region set includes at least one second pre-selected region;

[0110] Step S103: determining a third pre-selected region set from the skull image model through the device three-dimensional model according to the fitting judgment condition; the third pre-selected region set includes at least one third pre-selected region;

[0111] Step S104: Based on the determined first preselected area set, the second preselected area set and the third preselected area set, at least one target preselected area is acquired and displayed from the skull image model to assist in selecting an implantation position of the implant device in the skull.

[0112] According to the preset skull thickness constraint, by analyzing the patient's skull imaging data, an area with a suitable thickness is determined as the first pre-selected area for implantation, ensuring that the implant device has enough space for implantation and fits well with the skull. The three-dimensional model of the implant device and the skull imaging model are subjected to collision screening to determine the feasible position of the implant device in the skull, maintain a safe distance from important anatomical structures and avoid collision with important anatomical structures. The three-dimensional model of the implant device and the skull imaging model are subjected to fit judgment, for example, by calculating the curvature difference between the three-dimensional model of the device and the skull surface, the area that fits well with the skull surface (i.e., the area that meets the fit judgment condition) can be found. By integrating and comprehensively considering the information of the first, second and third pre-selected areas, one or more target pre-selected areas are selected from the three dimensions of thickness constraint, collision screening and fit judgment for the selection of the implant position of the implant device in the skull, in order to achieve the best implant effect and surgical results.

[0113] Therefore, on the one hand, the above steps are combined to obtain the target pre-selected area from the three dimensions of thickness constraint, collision screening and fit judgment, which reduces the reliance on the doctor's experience and increases the accuracy of implantation of the implant device. On the other hand, by displaying the target pre-selected area, an intuitive reference is provided for the doctor, so that he can better select the best implantation position, improve the surgical effect and the safety of the patient. On the other hand, the three dimensions of thickness constraint, collision screening and fit judgment can be performed in no particular order, that is, the three do not need to rely on the order of execution, and multiple judgments can be performed simultaneously in real-time calculation, which speeds up the selection of implantation positions and improves surgical efficiency. At the same time, the judgment method without order can enable doctors to make flexible adjustments, focus on the patient's special circumstances, and make decisions more targeted and personalized; on the other hand, thickness constraint, collision screening and fit judgment can be performed in order, that is, the three need to rely on the order of execution, and can gradually screen out implant areas that meet the requirements, reduce surgical risks, improve implantation effects, and thus improve the safety and success of skull implant surgery.

[0114] In summary, comprehensive consideration of the three dimensions of thickness constraint, collision screening, and fit judgment can more comprehensively evaluate the compatibility and mutual influence between the implant device and the skull, thereby obtaining the target preselected area, reducing dependence on the doctor's experience, and providing more comprehensive information and auxiliary decision-making when the doctor determines the implant position, thereby solving the problem of poor implant effect caused by doctors relying solely on preoperative imaging data to determine the implant position.

[0115] Determining the implant position solely through preoperative imaging data is too dependent on the doctor's own experience. However, the target pre-selected area obtained by comprehensive consideration of the three dimensions of thickness constraint, collision screening, and fit judgment can more comprehensively evaluate the compatibility and mutual influence between the implant device and the skull. Even inexperienced doctors can select the area with more favorable compatibility and mutual influence between the implant device and the skull from the target screening area as the implant area of ​​the implant device. This embodiment takes into account that the implant device has a certain volume, and comprehensively considers the implant position of the implant device in combination with the three dimensions of thickness constraint, collision screening, and fit judgment to avoid the implant device implanted in the skull. The implantation brings greater scalp tension that affects the healing of the incision after suture and the aesthetic effect, or compresses the intracranial brain tissue and causes clinical risks. In specific applications, such as Figure 1 As shown, the above method can be performed in the order of step S101, step S102 and step S103, and step S104 is performed last. Similarly, step S101, step S102 and step S103 can be performed simultaneously, and step S104 is performed last. This embodiment does not limit the execution order of steps S101 to S103.

[0116] As an example, the thickness range is set to 3 mm to 6 mm, and two first preselected areas located at the back of the skull are determined in the patient's skull imaging model. According to the collision screening condition, the three-dimensional model of the implant device is placed in the first preselected area, and the collision with the internal structure of the skull is detected to determine three second preselected areas that meet the collision screening condition. According to the fit judgment condition, three third preselected areas that meet the fit judgment condition are determined by evaluating the fit between the implant device and the inner surface of the skull. According to all the first preselected areas, second preselected areas, and third preselected areas determined, the overlapping parts are intersected and used as the target preselected areas, and then displayed using a display device. The display device is, for example, a display, a projector, a tablet computer, etc. Therefore, the target preselected area is the result of comprehensive consideration of thickness constraints, collision screening, and fit judgment. For example, the multiple target preselected areas in this example are all located at the back of the skull, avoiding important blood vessels of the brain tissue, and fit well with the inner surface of the skull. Even inexperienced doctors can better select the implant area of ​​the suitable implant device.

[0117] The outer surface and inner surface of the skull mentioned in this application are defined as follows:

[0118] The inner surface of the skull refers to the bone surface facing the inside of the cranial cavity, that is, the part that contacts internal structures such as brain tissue, meninges and blood vessels.

[0119] The outer surface of the skull refers to the bone surface away from the interior of the cranial cavity, that is, the part that contacts the scalp or soft tissue.

[0120] In some embodiments, the method of obtaining the skull image model may include:

[0121] The skull image data of the patient is acquired, and a skull image model of the patient is reconstructed according to the skull image data.

[0122] Among them, skull imaging data can provide detailed skull structure information, including the shape, size, thickness and position of the skull. Using computer technology and image processing algorithms, the patient's skull imaging data is processed and analyzed, and the two-dimensional imaging data is converted into a skull model with three-dimensional geometric information to reconstruct the patient's skull imaging model.

[0123] Therefore, by acquiring the patient's skull imaging data and reconstructing it, an individualized skull imaging model can be obtained, which can provide important information and reference for the selection of implant devices and surgical planning, thereby improving the surgical effect and patient treatment outcomes.

[0124] Skull imaging data, for example, is anatomical parameters obtained from images generated using X-rays, magnetic resonance imaging (MRI), and computed tomography (CT), and is used to indicate the contour of the skull, the thickness of the skull, and the like.

[0125] As an example, a doctor uses MRI to perform a skull scan on a patient to obtain skull image data of the patient. The skull image data may include a cross-sectional image of the skull, etc. Then, the skull image data of the patient is processed and reconstructed using computer software and image processing algorithms to generate a skull image model of the patient. The skull image model is a three-dimensional virtual model that can accurately present the shape and structure of the patient's skull.

[0126] In some embodiments, the skull image model is used to display the thickness of different positions of the patient's skull, and the thickness constraint condition is used to limit the preset skull thickness range within the first preselected area; the method of determining the first preselected area set of areas that meet the thickness constraint condition includes:

[0127] Acquire areas in the skull image model that meet the skull thickness range, and according to the importance score of the brain tissue in the areas that meet the skull thickness range, place one or more areas that meet the skull thickness range into the first pre-selected area set.

[0128] Through the patient's skull imaging model, the thickness information of the skull at different positions can be obtained to show the thickness distribution of the skull in different areas. The thickness constraint condition can be set according to the preset skull thickness range. The constraint condition limits the thickness of the first pre-selected area to meet a specific range requirement, such as not too thick or too thin. In order to obtain the area that meets the thickness constraint condition, the skull imaging model can be analyzed to screen out the area that meets the skull thickness range. On this basis, the importance of the brain tissue in the area that meets the thickness range is scored to further determine the first pre-selected area. It can be understood that the importance score can be obtained according to predetermined standards, such as the functional importance or risk sensitivity of different locations of brain tissue.

[0129] Therefore, by using the skull imaging model to display the thickness at different locations and setting thickness constraints to obtain the first preselected area that meets the requirements, individualized information and guidance can be provided in the selection of implant devices and surgical planning, thereby improving surgical results and patient safety.

[0130] Among them, the skull thickness range is, for example, 2.1mm to 3mm, 2.25mm to 7mm, etc. The skull thickness range can be determined based on the doctor's experience and the specific state of the current patient. Doctors have accumulated a lot of experience in long-term clinical practice and can derive a pre-set skull thickness range based on observation of patients. In addition, individual characteristics of patients such as age, gender, race, and bone condition may also affect the actual thickness of the patient's skull. Therefore, when formulating an implantation plan, doctors can combine their own experience and the patient's specific situation to determine the appropriate skull thickness range, which helps to ensure the stability and safety of the implanted device and improve the success rate of the operation and the patient's postoperative effect. For example, the skull thickness range of men is greater than that of women. As an example, user A is a 65-year-old male, and the skull thickness range is set to 3.5mm to 6mm, and user B is a 65-year-old female, and the skull thickness range is set to 2.2mm to 5mm.

[0131] The importance score of brain tissue, for example, is to refer to Brodmann partition, divide the brain tissue into 52 small areas, and score them according to their importance. For example, the importance score is 70 points, 78 points, 89 points, grade A, grade C, etc. The scoring can be performed in a quantitative or qualitative manner. According to medical expertise and experience, the doctor can assign corresponding scores to each area according to the specific situation of the patient. In general, the higher the importance score of the brain tissue, the greater the impact of the area on the patient's brain function and quality of life, and it is necessary to consider the skull implant surgery in this area more carefully. By scoring the importance of brain tissue, the function and protection requirements of brain tissue can be taken into account when determining the first pre-selected area, helping doctors to better select the implantation location, avoid damage to important brain tissue, and protect the patient's brain function and quality of life to the greatest extent. The thickness constraint is used to limit the preset skull thickness range within the first pre-selected area. The skull image model mentioned in this application may include the image area of ​​the skull, and may also include the area between the outer surface of the skull and the imaginary surface. The imaginary surface will be described in detail below.

[0132] In some embodiments, when any area that meets the skull thickness range cannot be obtained, a first prompt message is sent to the doctor's device. The first prompt message is used to prompt that the first pre-selected area cannot be obtained based on the patient's skull image data. The doctor's device is, for example, a desktop computer, a laptop computer, or a tablet. The first prompt message and the second prompt message and the third prompt message mentioned below are, for example, pop-up messages, voice messages, or email messages, etc., and this application does not limit them.

[0133] See also Figure 2 , Figure 2 It is a schematic diagram of a process for determining a second pre-selected area provided in an embodiment of the present application.

[0134] In some embodiments, the method of determining the second pre-selected area includes:

[0135] Step S201: for each first pre-selected area, in response to a collision screening operation of moving the three-dimensional model of the device within the first pre-selected area, detecting whether there is an area meeting the collision screening condition within the first pre-selected area;

[0136] Step S202: If so, one or more regions meeting the collision screening condition are used as the second pre-selected regions.

[0137] Thus, the three-dimensional model of the device is moved in the first preselected area, and it is detected whether there is an area that meets the collision screening conditions. In the collision screening operation, a variety of conditions can be considered, such as the minimum gap between the implanted device and the brain tissue. By performing appropriate collision detection and analysis, it can be determined whether there is an area that meets the collision screening conditions. If there are areas that meet the collision screening conditions, these areas are used as the second preselected area. It can be considered that the second preselected area has been verified by the collision screening operation and has more suitable characteristics for implanting the device than other areas where collisions may exist. On the one hand, by performing the collision screening operation, the area that meets the collision screening conditions can be determined in the first preselected area as the second preselected area, which helps doctors further narrow the selection range of implantation positions, avoid collisions or interferences between implanted devices and surrounding structures, and improve the safety and success rate of the operation. On the other hand, by performing the collision screening operation in the first preselected area, the number of screenings can be reduced and the speed of implantation position selection can be accelerated.

[0138] As an example, the left frontal lobe area of ​​the patient is confirmed as the first pre-selected area in the skull imaging model, which is a part of the skull area located in the left frontal lobe. The device three-dimensional model is used to simulate the shape and position of the device to be implanted, and the position of the device three-dimensional model is moved in the first pre-selected area to simulate different implantation positions. While moving, a collision screening operation is performed in the first pre-selected area to detect whether there is an area that collides with the inner surface of the skull. By detecting multiple adjacent points that meet the collision screening conditions in the area, an area that meets the collision screening conditions is formed. That is, the area that meets the collision screening conditions can be understood as a continuous area similar to a shape or boundary composed of adjacent eligible points. Specifically, by calculating the distance between the device three-dimensional model and the skull surface, it can be determined whether there is a collision. If there are areas in the first pre-selected area that do not collide with the skull surface, these areas can be marked as areas that meet the collision screening conditions, and these areas can be considered to be areas where the device three-dimensional model maintains a sufficient distance from the skull surface.

[0139] In addition to forming a continuous area by detecting adjacent points that meet the collision screening conditions, the specific implementation of the collision screening operation can also be:

[0140] The skull image model and the three-dimensional model of the device are represented by a voxel or grid method. The collision between the voxels or grids of the skull image model and the three-dimensional model of the device can be detected to more accurately obtain the area that meets the collision screening conditions. Among them, voxels and grids are used to discretize objects in three-dimensional space. Alternatively, a collision screening operation is performed between the skull image model and the three-dimensional model of the device using a surface topology method, and the area that meets the collision screening conditions can be identified by comparing the surface topology of the two models. For example, the curvature difference or geometric change between the skull image model and the three-dimensional model of the device can be detected to determine whether there is a collision to obtain the area that meets the collision screening conditions. Among them, surface topology is a method used to describe and process the topological structure of the surface, that is, the connection relationship and boundary features between each point on the surface. The surface can be represented by a discretized grid, such as a triangular grid, which is not limited in this application. The surface topology describes the connection relationship between vertices, edges and faces in the grid.

[0141] In some embodiments, detecting whether there is an area meeting the collision screening condition in the first pre-selected area;

[0142] If the second pre-selected area does not exist in all the first pre-selected areas, a second prompt message is sent to the doctor device. The second prompt message is used to prompt that the second pre-selected area cannot be obtained based on the first pre-selected area of ​​the patient.

[0143] In some embodiments, the three-dimensional model of the device includes an upper surface and a lower surface that are arranged opposite to each other, and the collision screening condition includes at least one of the following:

[0144] When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the upper surface is in contact with the imaginary surface, the lower surface is not in contact with the inner surface of the skull image model;

[0145] When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the upper surface is in contact with the outer surface of the skull image model, the lower surface is not in contact with the inner surface of the skull image model;

[0146] When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the lower surface is in contact with the inner surface, the upper surface is not in contact with the outer surface of the skull imaging model;

[0147] When the three-dimensional model of the device is placed in the first preselected area in a horizontal or vertical direction and the lower surface is in contact with the inner surface, the upper surface is not in contact with the imaginary surface of the skull image model;

[0148] Among them, the imaginary surface is a reference surface obtained by path offsetting the outer surface of the skull image model away from the brain tissue at a preset distance. The user can pre-set a preset surface, which is an imaginary surface (i.e., an imaginary surface) located on the outside of the skull and at a preset distance from the outer surface of the skull. It can be understood that path offset means: translating each point on the outer surface of the skull outward along the normal direction of the point by a given distance to obtain the corresponding point. The new surface formed by all the points obtained by the above-mentioned path offset is the imaginary surface mentioned above.

[0149] Thus, based on the patient's skull imaging data, a skull imaging model is generated and an imaginary surface is determined. According to the above collision screening conditions, the three-dimensional model of the device is placed horizontally or vertically by adjusting the position and posture of the device so that the upper surface of the device fits with the imaginary surface. During the collision simulation of the device implantation, the lower surface of the three-dimensional model of the device is prevented from contacting the inner surface of the skull imaging model. By fitting the upper surface of the device with the imaginary surface, the contact area between the device and the skull during the implantation process is minimized, thereby reducing possible collisions and conflicts, and reducing the risk of injury during and after the implantation process (the implanted device will not compress the brain tissue). In addition, when the upper surface fits the outer surface of the skull, if the lower surface does not contact the inner surface of the skull, the internal contact between the device and the skull can be avoided, which helps to ensure the fit of the implanted device with the skull during the skull implantation process, and reduces interference with the internal structure of the skull, which helps to improve the implantation effect. When the lower surface fits the inner surface of the skull, the upper surface does not contact the outer surface of the skull. By fitting the lower surface to the inner surface of the skull, it is possible to ensure that the implanted device is in full contact with the inner surface of the skull and avoid external contact between the device and the skull, which helps to ensure the fit of the device to the skull during the skull implantation process and helps to improve the implantation effect. When the lower surface fits the inner surface of the skull, the upper surface does not contact the imaginary surface of the skull. This collision screening condition takes into account the existence of the imaginary surface, which is a reference surface obtained by shifting the outer surface of the skull imaging model away from the brain tissue at a preset distance through a path. That is to say, when the lower surface of the device fits the inner surface of the skull, it is ensured that the upper surface of the device does not contact the imaginary surface of the skull, which helps to take into account the imaginary surface of the skull during the device implantation process, maintain the fit of the device to the skull, and thus improve the implantation effect.

[0150] In addition, using an imaginary surface as a reference surface can provide a standard reference surface to help doctors more accurately locate and place the device. In this way, the accuracy and controllability of the operation can be increased, the fit of the implanted device can be improved, and the patient's surgical results and postoperative recovery can be improved. It should be noted that specific parameter values, such as the distance of the imaginary surface and the size of the device, need to be set and adjusted according to the specific implementation example and patient conditions to meet clinical needs and requirements.

[0151] By limiting the height difference between the upper and lower surfaces of the 3D model of the device and the inner surface of the skull, the device can be prevented from colliding with the internal structure of the skull during implantation, and the second pre-selected area obtained can improve the safety of the operation. Through the above collision screening conditions, areas that do not meet the requirements can be excluded in the preoperative planning stage to reduce the risk of collision.

[0152] The three-dimensional model of the device includes an upper surface and a lower surface that are relatively arranged. It can be considered that in order to improve the fit between the implant device and the implantation position of the skull, the curvature of the upper surface of the three-dimensional model of the device of the implant device is close to the outer surface of the skull (i.e., the imaginary surface), and the curvature of the lower surface is close to the inner surface of the skull. The purpose of the imaginary surface is to provide a reference surface for judging the height difference between the upper surface of the three-dimensional model of the device and the inner surface of the skull imaging model. The setting of the imaginary surface helps to provide a reference standard, so that the relative position relationship between the three-dimensional model of the device and the skull can be more accurately evaluated during the collision screening process. It is worth noting that the collision or conflict situation mentioned in this application may refer to the collision or conflict between the lower surface and the upper surface (or the imaginary surface of the upper surface) of the three-dimensional model of the device and the skull imaging model.

[0153] The preset distance is, for example, 1 mm, 2 mm, or 2.1 mm, etc. The preset distance may be a distance value obtained based on a professional doctor's understanding and evaluation of the patient's skull anatomical structure and individual differences. Specifically, the preset distance may be determined by considering factors such as the patient's age, gender, skull thickness, and the size and shape of the implanted device.

[0154] In some embodiments, the collision screening operation is performed by:

[0155] According to a first preset step length, the position of the three-dimensional model of the device is moved within the first preselected area to obtain rough screening information;

[0156] According to the rough screening information, the position of the three-dimensional model of the device is moved within the first preselected area according to a second preset step length to obtain an area that meets the collision screening condition, and the second preset step length is smaller than the first preset step length.

[0157] Thus, the position of the three-dimensional model of the device is moved within the first preselected area according to the first preset step length. At each moving position, it is detected whether the three-dimensional model of the device collides with the skull image model to obtain rough screening information. Based on the rough screening information, the position of the three-dimensional model of the device is moved within the first preselected area according to the second preset step length. At each moving position, the collision between the three-dimensional model of the device and the skull image model is further detected to obtain more detailed collision information, which is used to indicate whether there is an area that meets the collision screening conditions. Among them, the setting of the first preset step length being greater than the second preset step length is to determine possible candidate areas more quickly in the preliminary screening stage, and to more finely judge the final qualified areas in the further screening stage.

[0158] The first preset step size and the second preset step size are parameters for moving the position of the three-dimensional model of the device in the collision screening operation, which are, for example, 1 mm, 1.1 mm, 1.2 mm, 1.4 mm or 1.8 mm, respectively, and the second preset step size is smaller than the first preset step size. It can be understood that the first preset step size is a step size value used in the rough screening stage, which determines the distance interval of the three-dimensional model of the device moving in the first preselected area. By moving the position of the three-dimensional model of the device according to the first preset step size, the rough screening information can be obtained, that is, a preliminary check is made to see whether the device has a significant collision or conflict with the skull image model. A larger first preset step size can speed up the screening speed, but may reduce the accuracy of the screening. It can be understood that the second preset step size is a step size value used in the fine screening stage, which determines the distance interval of the three-dimensional model of the device moving further in the first preselected area. By moving the position of the three-dimensional model of the device according to the second preset step size, the fine screening information can be obtained under the guidance of the rough screening information, that is, a more detailed check of the collision or conflict between the device and the skull image model. A smaller second preset step size can improve the precision and accuracy of the screening. By using different step values, coarse and fine screening can be performed during the collision screening process to gradually narrow the scope and determine the areas that meet the collision screening conditions, effectively screen out possible implant locations, reduce the risk of collision with the skull, and improve the safety and stability of implanted devices.

[0159] As an example, the first preset step size is 2mm and the second preset step size is 1.1mm. Make the upper surface (the center point or the reference point selected by the doctor) fit the imaginary surface, according to the first preset step size, move the position of the three-dimensional model of the device in the first preselected area according to the first preset step size of 2mm, and record the rough screening information at each position to evaluate whether there is a collision with the inner surface of the skull. The above screening process can be achieved by calculating the distance between the three-dimensional model of the device and the inner surface of the skull or cross detection. If the distance between the three-dimensional model of the device and the inner surface of the skull is less than or equal to the set value, it is considered that a collision has occurred. Determine the area where the collision may occur based on the rough screening information, then make the upper surface (the center point or the reference point selected by the doctor) fit the imaginary surface, and move the position of the three-dimensional model of the device in the first preselected area according to the second preset step size of 1.1mm. Because this step size is smaller, the area where the collision occurs can be checked more carefully. Generally speaking, by using a larger preset step size, the rough screening information can quickly identify those areas that clearly intersect with the inner surface of the skull, and can focus more on potential collision areas in subsequent fine screening.

[0160] Coarse screening information refers to the preliminary screening results obtained when performing a collision screening operation, which is used to indicate whether there are areas in the first pre-selected area that may collide with the three-dimensional model of the device. Specifically, the coarse screening information may include an area identifier and its corresponding collision detection result, and the area identifier may represent a specific area in the skull model. By adjusting the position according to the coarse screening information, possible collision situations can be checked more carefully and more accurate screening results can be obtained. This process is similar to an iterative process, which continuously optimizes the screening results by gradually adjusting the position of the device to better determine whether there are areas that meet the collision screening conditions.

[0161] See also Figure 3 , Figure 3 It is a schematic diagram of a process for determining a third pre-selected area provided in an embodiment of the present application.

[0162] In some embodiments, the method of determining the third set of pre-selected areas includes:

[0163] Step S301: for each second pre-selected area, in response to a fitting judgment operation of moving the three-dimensional model of the device in the second pre-selected area, obtaining a plurality of projection results of the three-dimensional model of the device on the outer surface of the skull;

[0164] Step S302: According to the degree of fit between the upper surface of the three-dimensional model of the device and each of the projection results, detecting whether there is an area that meets the fit judgment condition in the second pre-selected area;

[0165] Step S303: If so, one or more regions meeting the alignment judgment condition are placed into the third pre-selected region set.

[0166] Therefore, the projection results of the device three-dimensional model and the fit between the projection results and the device three-dimensional model are used to guide the determination of the third pre-selected area. By analyzing the fit of the projection results, the area that best fits the device surface can be screened out, providing doctors with more accurate implantation position selection.

[0167] The degree of fit can be used to describe the degree of match between the device 3D model and the projection result or the skull surface. A high degree of fit can be considered a high degree of match between the device 3D model and the projection result or the skull surface. Conversely, a low degree of fit can be considered a low degree of match between the device 3D model and the projection result or the skull surface. In specific applications, the degree of fit between the two can be determined by point cloud matching. The point cloud data of the device 3D model is matched with the point cloud data of the projection result or the skull surface, and the degree of fit is obtained by calculating the number or distance of matching points. The degree of fit can be expressed in the form of a score, for example, a degree of fit of 70, 75 or 85.

[0168] Calculating the number of matching points means matching the point cloud data of the device's 3D model with the point cloud data of the projection result or the skull surface, and calculating the number of successfully matched points. The more matching points there are, the higher the overlap or match between the two, and the better the fit. Calculating the distance of matching points means calculating the distance between the device's 3D model and the projection result or the skull surface for all successfully matched points, and averaging the multiple distance values ​​obtained as a fit indicator. A smaller average distance value indicates a better fit.

[0169] In some embodiments, step S302 may include: for each projection result, obtaining curvature values ​​of all points on the projection result and curvature values ​​of all points on the upper surface of the device three-dimensional model, and obtaining the degree of fit between the upper surface and the projection result according to the curvature values ​​of all points on the projection result and the curvature values ​​of all points on the upper surface of the device three-dimensional model;

[0170] When the degree of fit meets the fit judgment condition, the projection result is used as the area meeting the fit judgment condition;

[0171] When the degree of fit does not meet the fit judgment condition, a fit judgment of the next projection result is performed.

[0172] All points in this embodiment refer to the projection result and the series of data points on the three-dimensional model of the device. Taking the upper surface of the three-dimensional model of the device as an example, the acquisition method can be: manually select one or more feature points from the upper surface as reference points; take each manually selected feature point as the starting point, select multiple data points on the upper surface according to the pre-selected step size, until the required number of data points are selected, and the feature points and all the obtained data points are used as a series of data points. The acquisition method can also be: manually select multiple feature points on the upper surface and use them as a series of feature points.

[0173] Thus, multiple projection results of the three-dimensional model of the device are obtained on the outer surface of the skull (i.e., the skull image model), and the projection results can be the projection shapes of the three-dimensional model of the device at different positions. Comparison is made based on the curvature values ​​of all points of each projection result and the curvature values ​​of all points on the upper surface of the three-dimensional model of the device. The curvature value reflects the degree of curvature of the surface. By comparing the curvature value of each point, it can be determined whether the three-dimensional model of the device fits with the outer surface of the skull in the second pre-selected area. According to the fit judgment condition, it is detected from the second pre-selected area whether there is an area that meets the condition. The area that meets the condition refers to the area where the three-dimensional model of the device fits well with the outer surface of the skull. If there are areas that meet the fit judgment condition, these areas are used as the third pre-selected area for further reference and selection. The determination of the third pre-selected area is carried out on the basis of the second pre-selected area, which can reduce the amount of calculation for judging the third pre-selected area and improve the acquisition efficiency of the third pre-selected area.

[0174] As an example, a three-dimensional model of the device is moved in a second pre-selected area for a fitting judgment operation. Four projection results of the three-dimensional model of the device are obtained from the area, and the mean of the curvature values ​​of all points of each projection result is calculated. At the same time, the mean of the curvature values ​​of all points on the upper surface of the three-dimensional model of the device is calculated. The set fitting judgment condition is that the curvature difference does not exceed 0.1. The mean of the curvature values ​​of the projection results is as follows: the mean of the curvature value of projection result 1 is 0.5; the mean of the curvature value of projection result 2 is 0.3; the mean of the curvature value of projection result 3 is 0.4; the mean of the curvature value of projection result 4 is 0.6. The mean of the curvature value of the upper surface of the three-dimensional model of the device is 0.4. According to the fitting judgment condition, it can be seen that the difference between the mean of the curvature values ​​of projection results 2 and projection results 3 and the mean of the curvature value of the upper surface of the three-dimensional model of the device (i.e., the curvature difference) is less than or equal to 0.1. Therefore, the area corresponding to these two projection results can be used as the third pre-selected area.

[0175] In some embodiments, based on the curvature values ​​of all points on each of the projection results and the curvature values ​​of all points on the upper surface of the three-dimensional model of the device, it is detected whether there is an area that meets the fitting judgment condition from the second pre-selected area; if there is no area in all the second pre-selected areas, a third prompt message is sent to the doctor's device. The third prompt message is used to prompt that the third pre-selected area cannot be obtained based on the second pre-selected area.

[0176] In some embodiments, the method of acquiring and displaying at least one target pre-selected area includes: using at least one of the third pre-selected areas as the target pre-selected area and displaying the area.

[0177] Therefore, the third pre-selected area has been comprehensively considered based on multiple factors such as thickness constraint, collision screening and fit judgment after the screening process of the above technical solution. Therefore, taking the third pre-selected area as the target pre-selected area can provide certain feasibility and practicality, which helps to provide doctors with a more valuable reference for implant location selection.

[0178] See also Figure 4 , Figure 5 and Figure 6 , Figure 4 is a schematic diagram of the position of a skull and an implant device provided in an embodiment of the present application, Figure 5 is a schematic diagram of the positions of a skull and an implant device when a thickness constraint condition is satisfied, provided in an embodiment of the present application. Figure 6 This is another schematic diagram of the positions of the skull and the implant device when the thickness constraint condition is met, provided in an embodiment of the present application.

[0179] In a specific application scenario, the present application embodiment also provides a surgical planning method for skull implantation, such as Figure 4 As shown, the surgical planning method is used to obtain the expected position of the implant device on the patient's skull. The method includes three steps: thickness screening, collision screening and fit judgment.

[0180] Thickness screening step: obtaining the skull image data of the patient, and reconstructing the skull image model of the patient according to the skull image data;

[0181] According to the thickness constraint condition, at least one first preselected area is determined from the skull image model of the patient; the skull image model is used to display the thickness of different positions of the skull of the patient, and the thickness constraint condition is used to limit the skull thickness range that meets a preset range within the first preselected area;

[0182] Methods for determining the first pre-selected area set include:

[0183] Acquire areas in the skull image model that meet the skull thickness range, and score the importance of brain tissue in the areas that meet the skull thickness range, and acquire one or more areas that meet the skull thickness range and put them into the first pre-selected area set.

[0184] Collision screening step: for each first pre-selected area, performing the following processing: in response to the collision screening operation of moving the three-dimensional model of the device in the first pre-selected area, detecting whether there is an area that meets the collision screening condition in the first pre-selected area;

[0185] If so, one or more regions meeting the collision screening condition are placed into the second pre-selected region set according to the importance score of the brain tissue in the region meeting the skull thickness range.

[0186] The three-dimensional model of the equipment includes an upper surface and a lower surface arranged relatively to each other, and the collision screening condition includes:

[0187] like Figure 5 As shown, when the three-dimensional model of the device is placed horizontally or vertically in the first preselected area and the upper surface is in contact with the imaginary surface, the lower surface does not contact the inner surface of the skull image model; wherein the imaginary surface is a reference surface obtained by shifting the outer surface of the skull image model away from the brain tissue by a preset distance through a path, and the preset distance is, for example, 1.1 mm.

[0188] Similarly, if Figure 6 As shown, the collision screening condition may also include: when the three-dimensional model of the equipment is placed horizontally or vertically in the first preselected area and the lower surface fits the inner surface, the upper surface does not contact the imaginary surface.

[0189] The method of performing a collision screening operation includes: moving the position of the three-dimensional model of the device within the first pre-selected area according to a first preset step size to obtain coarse screening information; based on the coarse screening information, moving the position of the three-dimensional model of the device within the first pre-selected area according to a second preset step size to obtain an area that meets the collision screening conditions, and the second preset step size is smaller than the first preset step size.

[0190] Fitting judgment step: for each second pre-selected area, in response to a fitting judgment operation of moving the three-dimensional model of the device in the second pre-selected area, obtaining a plurality of projection results of the three-dimensional model of the device on the outer surface of the skull;

[0191] According to the fit between the upper surface of the three-dimensional model of the device and each of the projection results, detecting whether there is an area meeting the fit judgment condition in the second pre-selected area;

[0192] If so, one or more areas meeting the fit judgment conditions are placed into the third pre-selected area set, and at least one of the third pre-selected areas is used as a target pre-selected area and displayed to assist in selecting the implantation position of the implant device in the skull.

[0193] Device Embodiment

[0194] The embodiment of the present application also provides a surgical planning device for skull implantation, and its specific implementation method is consistent with the implementation method and the technical effects achieved in the above-mentioned method implementation method, and some contents will not be repeated here.

[0195] The surgical planning device comprises a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the following steps when executing the computer program:

[0196] Determining a first set of preselected regions from a skull image model of the patient according to a thickness constraint, wherein the first set of preselected regions includes at least one first preselected region;

[0197] According to the collision screening condition, determining a second preselected region set from the skull image model by using the device three-dimensional model of the implanted device, wherein the second preselected region set includes at least one second preselected region;

[0198] According to the fitting judgment condition, determining a third pre-selected area set from the skull image model by using the device three-dimensional model, wherein the third pre-selected area set includes at least one third pre-selected area;

[0199] Based on the determined first preselected area set, the second preselected area set and the third preselected area set, at least one target preselected area is acquired and displayed from the skull image model to assist in selecting the implantation position of the implant device in the skull.

[0200] In some embodiments, the at least one processor is configured to acquire the skull image model in the following manner when executing the computer program:

[0201] The skull image data of the patient is acquired, and a skull image model of the patient is reconstructed according to the skull image data.

[0202] In some embodiments, the skull image model is used to display the thickness of different positions of the patient's skull, and the thickness constraint is used to limit the first pre-selected area to a preset skull thickness range; the at least one processor is configured to determine the first pre-selected area set in the following manner when executing the computer program:

[0203] Acquire areas in the skull image model that meet the skull thickness range, and according to the importance score of the brain tissue in the areas that meet the skull thickness range, place one or more areas that meet the skull thickness range into the first pre-selected area set.

[0204] In some embodiments, the at least one processor is configured to determine the second set of pre-selected areas in the following manner when executing the computer program:

[0205] For each first pre-selected area, perform the following processing:

[0206] In response to a collision screening operation of moving the three-dimensional model of the device within the first pre-selected area, detecting whether there is an area meeting the collision screening condition within the first pre-selected area;

[0207] If so, one or more regions meeting the collision screening condition are placed into the second pre-selected region set.

[0208] In some embodiments, the three-dimensional model of the device includes an upper surface and a lower surface that are relatively arranged, and the collision screening condition includes:

[0209] When the three-dimensional model of the device is placed horizontally or vertically in the first preselected area and the upper surface is in contact with the imaginary surface, the lower surface does not contact the inner surface of the skull image model; wherein the imaginary surface is a reference surface obtained by path offsetting the outer surface of the skull image model away from the brain tissue at a preset distance.

[0210] In some embodiments, the at least one processor is configured to perform the collision screening operation in the following manner when executing the computer program:

[0211] According to a first preset step length, the position of the three-dimensional model of the device is moved within the first preselected area to obtain rough screening information;

[0212] According to the rough screening information, the position of the equipment three-dimensional model is moved within the first preselected area according to a second preset step length to obtain an area that meets the collision screening condition, and the second preset step length is smaller than the first preset step length.

[0213] In some embodiments, the at least one processor is configured to determine the third set of pre-selected areas in the following manner when executing the computer program:

[0214] For each second pre-selected area, perform the following processing:

[0215] In response to a fit determination operation of moving the three-dimensional model of the device within the second preselected area, a plurality of projection results of the three-dimensional model of the device are acquired on the outer surface of the skull;

[0216] According to the fit between the upper surface of the three-dimensional model of the device and each of the projection results, detecting whether there is an area meeting the fit judgment condition in the second pre-selected area;

[0217] If so, one or more regions meeting the fit judgment condition are placed into the third pre-selected region set.

[0218] In some embodiments, the at least one processor is configured to acquire and display at least one target pre-selected area in the following manner when executing the computer program:

[0219] At least one of the third pre-selected areas is used as a target pre-selected area and displayed.

[0220] System Example

[0221] See also Figure 7 , Figure 7 It is a structural schematic diagram of a surgical planning system provided in an embodiment of the present application.

[0222] The present application also provides a surgical planning system, the system comprising:

[0223] The surgical planning device 10 provided in the device embodiment is used to obtain at least one target preselected area;

[0224] A display device 20 is used to display the target pre-selected area.

[0225] Thus, the surgical planning system can quickly obtain at least one target preselected area through the surgical planning device 10, reducing the workload of the doctor in manual operation and analysis, and improving work efficiency and the accuracy of implantation position selection. The display device 20 is, for example, a display, a projector, etc. The display device 20 can present the target preselected area to the doctor in the form of an image or a virtual model. The doctor can intuitively observe, compare and evaluate the characteristics of different preselected areas and better select the implantation position.

[0226] Although the devices, methods, and systems described in the present disclosure refer to skull-based implants, the above-described devices, methods, and systems are not limited to use in skull-based implant device surgeries and may be used in medical surgical procedures related to implanting implant devices in other areas of a patient, such as the patient's spine or pelvic area.

[0227] Storage Medium Embodiments

[0228] The embodiment of the present application also provides a computer-readable storage medium, the specific embodiment of which is consistent with the embodiment recorded in the above method embodiment and the technical effects achieved, and some contents will not be repeated here.

[0229] The computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the steps of any of the above methods or the functions of any of the above devices are implemented.

[0230] The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. In an embodiment of the present application, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0231] The computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable storage medium may also be any computer-readable medium that can send, propagate, or transmit a program for use by an instruction execution system, an apparatus, or a device or for use in combination with it. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above. The program code for performing the operation of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and also conventional procedural programming languages ​​such as C language or similar programming languages. The program code may be executed entirely on a user computing device, partially on a user device, as an independent software package, partially on a user computing device, partially on a remote computing device, or entirely on a remote computing device or server. Where a remote computing device is involved, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0232] Computer program product embodiments

[0233] The embodiment of the present application also provides a computer program product, the specific embodiments of which are consistent with the embodiments recorded in the above method embodiments and the technical effects achieved, and some contents will not be repeated here.

[0234] The computer program product comprises a computer program, and when the computer program is executed by at least one processor, the steps of any of the above methods or the functions of any of the above devices are implemented.

[0235] See also Figure 8 , Figure 8 It is a structural diagram of a computer program product provided in an embodiment of the present application.

[0236] The computer program product is used to implement the steps of any of the above methods or to implement the functions of any of the above devices. The computer program product may be a portable compact disk read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the computer program product of the present invention is not limited thereto, and the computer program product may be any combination of one or more computer-readable media.

[0237] This application is explained from the perspectives of purpose of use, effectiveness, progress and novelty, and has met the functional enhancement and usage requirements emphasized by the Patent Law. The above description and drawings of this application are only the preferred embodiments of this application, and are not intended to limit this application. Therefore, all structures, devices, features, etc. that are similar or identical to this application, that is, all equivalent replacements or modifications made in accordance with the scope of the patent application of this application, should fall within the scope of protection of the patent application of this application.

Claims

1. A surgical planning device for skull implantation, characterized in that: The surgical planning device comprises a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the following steps when executing the computer program: Determining a first set of preselected regions from a skull image model of the patient according to a thickness constraint, wherein the first set of preselected regions includes at least one first preselected region; According to the collision screening condition, determining a second preselected region set from the skull image model by using the device three-dimensional model of the implanted device, wherein the second preselected region set includes at least one second preselected region; According to the fitting judgment condition, determining a third pre-selected area set from the skull image model by using the device three-dimensional model, wherein the third pre-selected area set includes at least one third pre-selected area; Based on the determined first preselected area set, the second preselected area set and the third preselected area set, at least one target preselected area is acquired and displayed from the skull image model to assist in selecting the implantation position of the implant device in the skull.

2. The surgical planning device according to claim 1, characterized in that: The at least one processor is configured to acquire the skull image model in the following manner when executing the computer program: The skull image data of the patient is acquired, and a skull image model of the patient is reconstructed according to the skull image data.

3. The surgical planning device according to claim 2, characterized in that: The skull image model is used to display the thickness of different positions of the patient's skull, and the thickness constraint condition is used to limit the first pre-selected area to meet the preset skull thickness range; the at least one processor is configured to determine the first pre-selected area set in the following manner when executing the computer program: Acquire areas in the skull image model that meet the skull thickness range, and according to the importance score of the brain tissue in the areas that meet the skull thickness range, place one or more areas that meet the skull thickness range into the first pre-selected area set.

4. The surgical planning device according to claim 1, characterized in that: The at least one processor is configured to determine the second set of pre-selected areas in the following manner when executing the computer program: For each first pre-selected area, perform the following processing: In response to a collision screening operation of moving the three-dimensional model of the device within the first pre-selected area, detecting whether there is an area meeting the collision screening condition within the first pre-selected area; If so, one or more regions meeting the collision screening condition are placed into the second pre-selected region set.

5. The surgical planning device according to claim 4, characterized in that: The three-dimensional model of the device includes an upper surface and a lower surface that are arranged opposite to each other, and the collision screening condition includes at least one of the following: When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the upper surface is in contact with the imaginary surface, the lower surface is not in contact with the inner surface of the skull image model; When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the upper surface is in contact with the outer surface of the skull image model, the lower surface is not in contact with the inner surface of the skull image model; When the three-dimensional model of the device is placed in the first preselected area horizontally or vertically and the lower surface is in contact with the inner surface, the upper surface is not in contact with the outer surface of the skull imaging model; When the three-dimensional model of the device is placed in the first preselected area in a horizontal or vertical direction and the lower surface is in contact with the inner surface, the upper surface is not in contact with the imaginary surface of the skull image model; The imaginary surface is a reference surface obtained by path shifting the outer surface of the skull image model away from the brain tissue according to a preset distance.

6. The surgical planning device according to claim 4, characterized in that: The at least one processor is configured to perform collision screening operations in the following manner when executing the computer program: According to a first preset step length, the position of the three-dimensional model of the device is moved within the first preselected area to obtain rough screening information; According to the rough screening information, the position of the three-dimensional model of the device is moved within the first preselected area according to a second preset step length to obtain an area that meets the collision screening condition, and the second preset step length is smaller than the first preset step length.

7. The surgical planning device according to claim 1, characterized in that: The at least one processor is configured to determine the third pre-selected area set in the following manner when executing the computer program: For each second pre-selected area, perform the following processing: In response to a fit determination operation of moving the three-dimensional model of the device within the second preselected area, a plurality of projection results of the three-dimensional model of the device are acquired on the outer surface of the skull; According to the fit between the upper surface of the three-dimensional model of the device and each of the projection results, detecting whether there is an area meeting the fit judgment condition in the second pre-selected area; If so, one or more regions meeting the fit judgment condition are placed into the third pre-selected region set.

8. The surgical planning device according to claim 7, characterized in that: The at least one processor is configured to acquire and display at least one target pre-selected area in the following manner when executing the computer program: At least one of the third pre-selected areas is used as a target pre-selected area and displayed.

9. A surgical planning method for skull implantation, characterized in that: The method comprises: Determining a first set of preselected regions from a skull image model of the patient according to a thickness constraint, wherein the first set of preselected regions includes at least one first preselected region; According to the collision screening condition, determining a second preselected region set from the skull image model by using the device three-dimensional model of the implanted device, wherein the second preselected region set includes at least one second preselected region; According to the fitting judgment condition, determining a third pre-selected area set from the skull image model by using the device three-dimensional model, wherein the third pre-selected area set includes at least one third pre-selected area; Based on the determined first preselected area set, the second preselected area set and the third preselected area set, at least one target preselected area is acquired and displayed from the skull image model to assist in selecting the implantation position of the implant device in the skull.

10. The surgical planning method according to claim 9, characterized in that: The method of determining the second pre-selected area set includes: For each first pre-selected area, performing the following processing: in response to a collision screening operation of moving the three-dimensional model of the device within the first pre-selected area, detecting whether there is an area that meets the collision screening condition within the first pre-selected area; If so, one or more regions meeting the collision screening condition are placed into the second pre-selected region set.

11. The surgical planning method according to claim 9, characterized in that: The method of determining the third pre-selected area set includes: for each second pre-selected area, performing the following processing: In response to a fit determination operation of moving the three-dimensional model of the device within the second preselected area, a plurality of projection results of the three-dimensional model of the device are acquired on the outer surface of the skull; According to the fit between the upper surface of the three-dimensional model of the device and each of the projection results, detecting whether there is an area meeting the fit judgment condition in the second pre-selected area; If so, one or more regions meeting the fit judgment condition are placed into the third pre-selected region set.

12. A surgical planning system for skull implantation, characterized in that: The system comprises: The surgical planning device according to any one of claims 1 to 8, wherein the surgical planning device is used to obtain at least one target preselected area; A display device is used to display the target pre-selected area.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the computer program implements the functions of the surgical planning device according to any one of claims 1 to 8, or implements the steps of the method according to any one of claims 9 to 11.

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