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

Abstract

The present application provides a surgical planning device, a surgical planning method, a surgical planning system and a computer-readable storage medium for skull implants. The surgical planning device includes a memory and at least one processor, and the at least one processor is configured to implement the following steps when executing a computer program: determining a first set of preselected areas from the patient's skull imaging model; determining a second set of preselected areas from the skull imaging model through a three-dimensional model of the implant device according to a collision screening condition; determining a third set of preselected areas from the skull imaging model through a three-dimensional model of the device according to a fit judgment condition; obtaining and displaying at least one target preselected area from the skull imaging model according to the determined first set of preselected areas, second set of preselected areas and third set of preselected areas. The present application combines the three dimensions of thickness constraint, collision screening and fit judgment to comprehensively consider and obtain the target preselected area, thereby improving the implant effect.

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 surgical treatment plans for certain diseases, medical devices are chosen to be implanted in the patient's skull. In order to reduce the surgical risks brought about 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 approach involves selecting a rough area on the patient's skull for craniotomy or bone grinding based on the doctor's experience, and then implanting the medical device. Due to individual differences in patient skulls, simply determining the implant location based solely on preoperative imaging data is overly reliant on the doctor's own experience, which can lead to the implant 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 this 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 cranial implantation, the surgical planning device comprising a memory and at least one processor, the memory storing a computer program, 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] determining a second set of preselected regions from the skull image model using a three-dimensional model of the implanted device according to a collision screening condition, wherein the second set of preselected regions includes at least one second preselected region;

[0010] Determining a third preselected region set from the skull image model using the device three-dimensional model according to a fitting judgment condition, wherein the third preselected region set includes at least one third preselected region;

[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 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, an area that fits well with the skull surface (i.e., an area that meets the fit judgment conditions) 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 combine to determine the target preselection area based on thickness constraints, collision screening, and fit judgment, reducing reliance on the surgeon's experience and increasing the accuracy of implant placement. On the other hand, by displaying the target preselection area, it provides an intuitive reference for the surgeon, enabling them to better select the optimal implant location, improving surgical outcomes 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, so it can more comprehensively evaluate the adaptability 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 relying solely 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] Acquire the patient's skull image data, and reconstruct the patient's skull image model based on the skull image data.

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

[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 the patient's skull at different locations, and the thickness constraint is used to limit the first preselected region to a preset skull thickness range; and the at least one processor is configured to determine the first preselected region 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 place one or more areas that meet the skull thickness range into the first pre-selected area set based on the importance score of the brain tissue in the areas that meet the skull thickness range.

[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 a 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 set of pre-selected areas 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 preselected area, detecting whether there is an area meeting the collision screening condition within the first preselected 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 within the first pre-selected 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 are areas that meet the collision screening conditions. If there are areas that meet the collision screening conditions, these areas are used as second pre-selected areas. 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 occur. On the one hand, by performing the collision screening operation, the area that meets the collision screening conditions can be determined within the first pre-selected area as the second pre-selected area, helping doctors to further narrow the range of implant location options, avoid collisions or interference between the implanted device and surrounding structures, and improve the safety and success rate of the operation. On the other hand, by performing the collision screening operation within the first pre-selected area, the number of screenings can be reduced and the speed of implant location 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 in a horizontal or vertical direction and the upper surface is aligned with the imaginary surface, the lower surface does not contact the inner surface of the skull image model;

[0030] When the three-dimensional model of the device is placed in the first preselected area in a horizontal or vertical direction 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 does not contact 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 does not contact the imaginary surface of the skull imaging model;

[0033] 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.

[0034] The beneficial effects of this technical solution are: 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 the imaginary surface. During the collision simulation of the device implantation, the lower surface of the three-dimensional model of the device is avoided 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, reduces interference with the internal structure of the skull, 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 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. This helps ensure the fit of the device to the skull during skull implantation and helps 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. In other words, when the lower surface of the device fits the inner surface of the skull, it ensures that the upper surface of the device does not contact the imaginary surface of the skull. This helps to take into account the imaginary surface of the skull during device implantation, 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] moving the position of the three-dimensional model of the device within the first preselected area according to a first preset step length to obtain coarse screening information;

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

[0038] The beneficial effects of this technical solution are 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 size. At each moving position, it is detected whether the three-dimensional model of the device collides with the skull image model to obtain coarse screening information. Based on the coarse 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 size. 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. The setting of the first preset step size being larger than the second preset step size is to more quickly determine possible candidate areas in the preliminary screening stage, and to more finely judge the final areas that meet the conditions in the further screening stage.

[0039] In some possible implementations, 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:

[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, acquiring a plurality of projection results of the three-dimensional model of the device on the outer surface of the skull;

[0042] detecting, based on a degree of fit between the upper surface of the three-dimensional model of the device and each of the projection results, 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 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 implant location selection.

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

[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 lies in that the third pre-selected region has been comprehensively considered through the screening process of the above technical solution, based on multiple factors such as thickness constraints, collision screening, and fit judgment. Therefore, using the third pre-selected region as the target pre-selected region provides certain feasibility and practicality, helping to provide doctors with 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] determining a second set of preselected regions from the skull image model using a three-dimensional model of the implanted device according to a collision screening condition, wherein the second set of preselected regions includes at least one second preselected region;

[0050] Determining a third preselected region set from the skull image model using the device three-dimensional model according to a fitting judgment condition, wherein the third preselected region set includes at least one third preselected region;

[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 locations of the patient's skull, and the thickness constraint is used to limit the first preselected area to a preset skull thickness range. The method of determining the first preselected area set includes:

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

[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 in a horizontal or vertical direction and the upper surface is aligned with the imaginary surface, the lower surface does not contact the inner surface of the skull image model;

[0060] When the three-dimensional model of the device is placed in the first preselected area in a horizontal or vertical direction 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 does not contact 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 does not contact the imaginary surface of the skull imaging model;

[0063] 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.

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

[0065] moving the position of the three-dimensional model of the device within the first preselected area according to a first preset step length to obtain coarse screening information;

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

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

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

[0069] detecting, based on a degree of fit between the upper surface of the three-dimensional model of the device and each of the projection results, 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, methods of obtaining and displaying at least one target pre-selected area include:

[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 items, or implements the steps of any one of the above methods. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

[0081] Figure 3This 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 positions 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 the skull and the implant device when the 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 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 solutions in this application will be described below in conjunction with the accompanying drawings and specific implementation methods of this 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 examples of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the examples of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[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 a 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 systems) of the embodiments 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 neuroregulation technology mainly involves implanting electrodes in specific parts of the tissue of a living organism (i.e., target points) through stereotactic surgery, and the stimulator implanted in the patient's body sends electrical pulses to the target points through the electrodes to regulate the electrical activity and function of the corresponding neural structures and networks, thereby improving symptoms and alleviating 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 (IDDS). Examples of implantable neural stimulation devices include deep brain stimulation (DBS), cortical nerve stimulation (CNS), spinal cord stimulation (SCS), sacral nerve stimulation (SNS), and vagus nerve stimulation (VNS). The implantable device mentioned in this application may be any of the stimulators mentioned above. The following description will mainly use the deep brain stimulation system as an example, and the implantable device may be a pulse generator.

[0092] As an example, DBS includes an implantable pulse generator (IPG), an extension lead, and an electrode lead. 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, with the IPG directly connected to the electrode lead. The IPG is implanted in the patient's head, for example, by making a groove in the patient's skull and then installing the IPG in the groove. In this case, the IPG may not protrude from the outer surface of the skull, or it 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 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 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 specific areas of the tissue in the body through multiple electrode contacts. The stimulator is provided with one or more electrode wires on one side or two sides, and multiple electrode contacts are provided on the electrode wire. The electrode contacts can be evenly arranged or unevenly arranged 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 embodiments, the stimulated tissue in the body can be the patient's brain tissue, and the stimulated site can 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 used (single source or multiple sources), the use of one or more (single channel or multiple channels) 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 for which DBS can be used, and can be diseases for which deep brain stimulation (DBS), spinal cord stimulation (SCS), sacral nerve stimulation, gastric stimulation, peripheral nerve stimulation, and functional electrical stimulation are applicable. The types of diseases that DBS can be used to treat or manage include, but are not limited to, spastic disorders (e.g., epilepsy), pain, migraine, mental illness (e.g., major depressive disorder (MDD)), bipolar disorder, anxiety, post-traumatic stress disorder, minor depression, obsessive-compulsive disorder (OCD), behavioral disorders, mood disorders, memory disorders, mental state disorders, mobility 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 impairments.

[0097] In an embodiment of the present application, when a programmable connection is established between the programmable device and the stimulator, 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 that the doctor can adjust) and the upper and lower limits controlled by the patient (the range that the patient can adjust independently).

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

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

[0101] The embodiments of the present application do not restrict the data interaction between the doctor-controlled device and the stimulator. When the doctor performs remote programming, the doctor-controlled device can exchange data with the stimulator through the server and the patient-controlled device. When the doctor performs offline programming with the patient face-to-face, the doctor-controlled device can exchange data with the stimulator through the patient-controlled device, or directly with the stimulator.

[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. 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 operating frequency band / 2.4GHz-2.48GHz operating frequency band, and the doctor programmable device can directly exchange data with the stimulator through a 401MHz-406MHz operating frequency band / 2.4GHz-2.48GHz operating 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 adaptability 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 the surgical planning method for cranial implantation, and then describe the surgical planning equipment.

[0105] Method Example

[0106] See also Figure 1 , Figure 1 This 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 patient's skull image model 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 preselected region set from the skull image model using the three-dimensional model of the implanted device according to the collision screening condition; the second preselected region set includes at least one second preselected region;

[0110] Step S103: determining a third pre-selected region set from the skull image model using 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. By performing collision screening on the three-dimensional model of the implant device and the skull imaging model, a feasible position of the implant device in the skull can be determined, maintaining a safe distance from important anatomical structures and avoiding 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, an area that fits well with the skull surface (i.e., an area that meets the fit judgment criteria) 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] Thus, on the one hand, the above steps are combined to determine the target preselected area based on the three dimensions of thickness constraint, collision screening, and fit judgment, reducing reliance on the physician's experience and increasing the accuracy of implant device placement. On the other hand, by displaying the target preselected area, the physician is provided with an intuitive reference, enabling them to better select the optimal implant location, improving surgical outcomes and patient safety. Furthermore, the three dimensions of thickness constraint, collision screening, and fit judgment can be performed in no particular order, meaning they do not need to be performed in a sequential order. Multiple judgments can be performed simultaneously in real-time, accelerating implant location selection and improving surgical efficiency. Furthermore, this non-sequential judgment method allows the physician to flexibly adjust and prioritize specific considerations based on the patient's specific circumstances, making the decision more targeted and personalized. Furthermore, the three dimensions of thickness constraint, collision screening, and fit judgment can be performed in a sequential order, meaning they do not need to be performed in a sequential order. This allows the physician to gradually select the implant location that meets the requirements, reducing surgical risks and improving implant outcomes, thereby improving the safety and success of cranial 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 location, thereby solving the problem of poor implant effect caused by the doctor's sole reliance on preoperative imaging data to determine the implant location.

[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 an area with more favorable compatibility and mutual influence between the implant device and the skull from the target screening area as the implant area for 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 implantation of the implant device in the skull. It causes greater scalp tension that affects the healing of the incision after suture and the aesthetic effect, or compresses the brain tissue within the skull 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 finally step S104. Similarly, step S101, step S102, and step S103 can be performed simultaneously, and finally step S104 is performed. This embodiment does not limit the execution order of steps S101 to S103.

[0116] As an example, a thickness range of 3 mm to 6 mm is set, and two first preselected regions located at the back of the skull are identified in the patient's skull imaging model. Based on the collision screening criteria, three second preselected regions that meet the collision screening criteria are determined by placing a three-dimensional model of the implant device within the first preselected region and detecting collisions with the internal skull structure. Based on the fit judgment criteria, three third preselected regions that meet the fit judgment criteria are determined by evaluating the fit between the implant device and the inner surface of the skull. Based on all the first, second, and third preselected regions determined, the overlapping portions are intersected and used as target preselected regions, which are then displayed using a display device. The display device can be, for example, a monitor, projector, or tablet computer. Thus, the target preselected regions are the result of a comprehensive consideration of thickness constraints, collision screening, and fit judgment. For example, in this example, the multiple target preselected regions are all located at the back of the skull, avoiding important blood vessels in the brain tissue and providing good fit with the inner surface of the skull. This allows even inexperienced physicians to easily select a suitable implant region for the 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 comes into contact with 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] Acquire the patient's skull image data, and reconstruct the patient's skull image model based on the skull image data.

[0122] Skull imaging data can provide detailed information about the skull structure, including its shape, size, thickness, and position. Using computer technology and image processing algorithms, the patient's skull imaging data is processed and analyzed, converting the two-dimensional imaging data 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 skull contour, skull thickness, and the like.

[0125] For example, a doctor uses an MRI to scan a patient's skull to obtain skull imaging data. This skull imaging data can include cross-sectional images of the skull. Computer software and image processing algorithms are then used to process and reconstruct the skull imaging data to generate a skull imaging model. This skull imaging model is a three-dimensional virtual model that accurately represents 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 locations of the patient's skull, and the thickness constraint is used to limit the first preselected area to a preset skull thickness range. The method of determining the first preselected area set that meets the thickness constraint includes:

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

[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 the brain tissue.

[0129] Therefore, by using the skull imaging model to display the thickness at different locations and setting thickness constraints to obtain a 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] Examples of skull thickness ranges include 2.1mm to 3mm, 2.25mm to 7mm, and so on. The skull thickness range can be determined based on the physician's experience and the specific condition of the patient. Physicians have accumulated extensive experience through long-term clinical practice and can determine a pre-set skull thickness range based on patient observation. Furthermore, individual patient characteristics such as age, gender, race, and bone quality may also affect the patient's actual skull thickness. Therefore, when developing an implant plan, physicians can combine their experience with the patient's specific condition to determine an appropriate skull thickness range. This helps ensure the stability and safety of the implanted device, improve the success rate of the surgery, and enhance the patient's postoperative outcomes. For example, the skull thickness range for men is greater than that for women. For example, if User A is a 65-year-old male, the skull thickness range is set to 3.5mm to 6mm, while User B is a 65-year-old female, the skull thickness range is set to 2.2mm to 5mm.

[0131] The importance score of brain tissue is, for example, based on the Brodmann partition, divided into 52 small areas, and scored according to their importance. The importance score is, for example, 70 points, 78 points, 89 points, grade A, grade C, etc. The scoring can be performed in a quantitative or qualitative manner. Based on medical expertise and experience, the doctor can assign a corresponding score to each area according to the specific situation of the patient. Generally speaking, the higher the importance score of 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 skull implant surgery in this area more carefully. By scoring the importance of brain tissue, the function and protection needs of brain tissue can be taken into account when determining the first preselected area, helping doctors to better select the implant location, avoid damage to important brain tissue, and maximize the protection of the patient's brain function and quality of life. The thickness constraint is used to limit the first preselected area to a preset skull thickness range. The skull imaging model mentioned in this application may include the imaging 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 indicate that the first preselected area cannot be obtained based on the patient's skull imaging data. The doctor's device is, for example, a desktop computer, a laptop computer, or a tablet. The first prompt message and the second and third prompt messages mentioned below are, for example, pop-up messages, voice messages, or email messages, and are not limited by this application.

[0133] See also Figure 2 , Figure 2 This 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 within the first pre-selected area that meets the collision screening condition;

[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 within 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 second preselected areas. 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 that may have collisions. On the one hand, by performing the collision screening operation, the area that meets the collision screening conditions can be determined within the first preselected area as the second preselected area, helping doctors further narrow the range of implant location options, avoiding collision or interference between the implanted device and surrounding structures, and improving the safety and success rate of the operation. On the other hand, by performing the collision screening operation within the first preselected area, the number of screenings can be reduced and the speed of implant location selection can be accelerated.

[0138] As an example, the left frontal lobe region of the patient is identified as the first preselected region in the skull imaging model. This region is a portion of the skull located on the left frontal lobe. A three-dimensional model of the device is used to simulate the shape and position of the device to be implanted. The three-dimensional model of the device is moved within the first preselected region to simulate different implant locations. While moving, a collision screening operation is performed within the first preselected region to detect whether there are areas that collide with the inner surface of the skull. By detecting multiple adjacent points within the region that meet the collision screening criteria, an area that meets the collision screening criteria is formed. In other words, an area that meets the collision screening criteria can be understood as a continuous area composed of adjacent eligible points, similar to a shape or boundary. Specifically, by calculating the distance between the three-dimensional model of the device and the skull surface, it can be determined whether a collision exists. If there are areas within the first preselected region that do not collide with the skull surface, these areas can be marked as areas that meet the collision screening criteria. These areas can be considered to be areas where the three-dimensional model of the device 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 imaging model and the three-dimensional model of the device are represented using voxel or grid methods. The collision between the voxels or grids of the skull imaging 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 imaging model and the three-dimensional model of the device using a surface topology method. By comparing the surface topology structures of the two models, the area that meets the collision screening conditions can be identified. For example, the curvature difference or geometric change between the skull imaging 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 structure 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 within the first preselected area;

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

[0143] In some embodiments, the three-dimensional model of the device includes an upper surface and a lower surface disposed 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 in a horizontal or vertical direction and the upper surface is aligned with the imaginary surface, the lower surface does not contact the inner surface of the skull image model;

[0145] When the three-dimensional model of the device is placed in the first preselected area in a horizontal or vertical direction 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 does not contact 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 does not contact the imaginary surface of the skull imaging 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: each point on the outer surface of the skull is translated outward by a given distance along the normal direction at that point 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-mentioned 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 process of the device implantation, the lower surface of the three-dimensional model of the device is avoided 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, reduces interference with the internal structure of the skull, 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 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. This helps ensure the fit of the device to the skull during skull implantation and helps 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. In other words, when the lower surface of the device fits the inner surface of the skull, it ensures that the upper surface of the device does not contact the imaginary surface of the skull. This helps to take into account the imaginary surface of the skull during device implantation, 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 position and place the device. In this way, the accuracy and controllability of the surgery can be increased, the fit of the implanted device can be improved, and the patient's surgical outcome and postoperative recovery can be improved. It should be noted that specific parameter values, such as the distance between the imaginary surfaces and the size of the device, need to be set and adjusted according to the specific implementation and patient conditions to meet clinical needs and requirements.

[0151] By limiting the height difference between the upper and lower surfaces of the 3D device model and the inner surface of the skull, collisions with the skull during implantation can be avoided. This second preselected area improves surgical safety. This collision screening condition allows for the exclusion of undesirable areas during preoperative planning, reducing collision risks.

[0152] The three-dimensional model of the device includes an upper surface and a lower surface that are relatively set. It can be considered that in order to improve the fit between the implant device and the implant 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, for example, is 1mm, 2mm, or 2.1mm. It can be based on a professional physician's understanding and assessment of the patient's skull anatomy and individual differences. Specifically, the preset distance can be determined based on factors such as the patient's age, gender, and skull thickness, as well as the size and shape of the implanted device.

[0154] In some embodiments, performing collision screening operations includes:

[0155] moving the position of the three-dimensional model of the device within the first preselected area according to a first preset step length to obtain coarse screening information;

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

[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 size. At each moving position, it is detected whether the three-dimensional model of the device collides with the skull image model to obtain coarse screening information. Based on the coarse 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 size. 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. The setting of the first preset step size being larger than the second preset step size is to more quickly determine possible candidate areas in the preliminary screening stage, and to more finely judge the final areas that meet the conditions in the further screening stage.

[0158] The first and second preset step sizes are parameters used to adjust the position of the mobile device's 3D model during the collision screening operation. These parameters are, for example, 1mm, 1.1mm, 1.2mm, 1.4mm, or 1.8mm, respectively. The second preset step size is smaller than the first preset step size. The first preset step size is understood to be the step size used in the coarse screening phase, determining the distance interval within which the 3D device model moves within the first preselected area. By adjusting the position of the 3D device model according to the first preset step size, coarse screening information can be obtained, i.e., a preliminary check for significant collisions or conflicts between the device and the skull imaging model. A larger first preset step size can speed up screening but may reduce screening accuracy. The second preset step size is understood to be the step size used in the fine screening phase, determining the distance interval within which the 3D device model moves further within the first preselected area. By adjusting the position of the 3D device model according to the second preset step size, fine screening information can be obtained, guided by the coarse screening information, i.e., a more detailed check for collisions or conflicts between the device and the skull imaging model. A smaller second preset step size can improve screening precision and accuracy. 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 screening possible implant locations, reducing the risk of collision with the skull, and improving 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. The upper surface (the center point or the reference point selected by the physician) is aligned with an imaginary surface. The 3D model of the device is moved within a first preselected area at a first preset step size of 2mm. Coarse screening information is recorded at each position to assess whether there is a collision with the inner surface of the skull. This screening process can be implemented by calculating the distance between the 3D model of the device and the inner surface of the skull, or by performing an intersection check. If the distance between the 3D model of the device and the inner surface of the skull is less than or equal to a preset value, a collision is considered to have occurred. Based on the coarse screening information, areas of potential collision are determined. The upper surface (the center point or the reference point selected by the physician) is then aligned with the imaginary surface. The 3D model of the device is moved within the first preselected area at a second preset step size of 1.1mm. This smaller step size allows for a more detailed examination of potential collision areas. Generally speaking, by using a larger preset step size, coarse screening information can quickly identify areas that clearly intersect with the inner surface of the skull, allowing for more focused attention 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 within the first pre-selected area that may collide with the device's three-dimensional model. 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 based on the coarse screening information, possible collisions can be checked more carefully and more accurate screening results can be obtained. This process is similar to an iterative process, in which the screening results are continuously optimized 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 This 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, a method of determining the third set of pre-selected areas includes:

[0163] Step S301: For each second pre-selected area, in response to a fit determination operation of moving the three-dimensional model of the device within 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: detecting whether there is an area meeting the fitting judgment condition in the second pre-selected area based on the fit between the upper surface of the device three-dimensional model and each of the projection results;

[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 implant location selection.

[0167] The degree of fit can be used to describe the degree of match between the device's 3D model and the projection result or skull surface. A high degree of fit can be considered a high degree of match between the device's 3D model and the projection result or skull surface. Conversely, a low degree of fit can be considered a low degree of match between the device's 3D model and the projection result or skull surface. In specific applications, the degree of fit between the two can be determined using point cloud matching. The point cloud data of the device's 3D model is matched with the point cloud data of the projection result or skull surface, and the degree of fit is calculated 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 involves matching the point cloud data of the device's 3D model with the point cloud data of the projection result or skull surface and counting the number of successfully matched points. A greater number of matching points indicates a greater degree of overlap or match between the two, and a better fit. Calculating the distance of matching points involves calculating the distance between the device's 3D model and the projection result or skull surface for all successfully matched points, and averaging these multiple distance values ​​as a measure of fit. A smaller average distance 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 three-dimensional model of the device, and obtaining a degree of fit between the upper surface and the projection result based on the curvature values ​​of all points on the projection result and the curvature values ​​of all points on the upper surface of the three-dimensional model of the device;

[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] In this embodiment, all points refer to the projection results and a series of data points on the 3D model of the device. Taking the upper surface of the 3D model of the device as an example, the acquisition method can be: manually selecting one or more feature points from the upper surface as reference points; starting from each manually selected feature point, selecting multiple data points on the upper surface according to a 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. Another acquisition method can be: manually selecting multiple feature points on the upper surface and using 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 within the second pre-selected area. According to the fitting judgment conditions, it is detected from the second pre-selected area whether there is an area that meets the conditions. The area that meets the conditions 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 fitting judgment conditions, 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 within 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 result 2 and projection result 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 projection result and the curvature values ​​of all points on the upper surface of the three-dimensional model of the device, a detection is performed to determine whether an area meeting the fit judgment condition exists in the second pre-selected areas; if no area exists within any of the second pre-selected areas, a third prompt message is sent to the doctor's device. The third prompt message is used to indicate that the third pre-selected area cannot be obtained based on the second pre-selected areas.

[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 region has been comprehensively considered through the screening process of the above technical solution, based on multiple factors such as thickness constraints, collision screening, and fit judgment. Therefore, using the third pre-selected region as the target pre-selected region can provide a certain degree of feasibility and practicality, helping to provide doctors with a more valuable reference for implant location selection.

[0178] See also Figure 4 、 Figure 5 and Figure 6 , 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. Figure 5 This is a 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. 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 patient's skull imaging data, and reconstructing the patient's skull imaging model based on the skull imaging data;

[0181] Determining at least one first preselected region from a skull image model of the patient according to a thickness constraint; the skull image model is used to display the thickness of the patient's skull at different locations, and the thickness constraint is used to limit the first preselected region to a predetermined skull thickness range;

[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 according to the importance score, and obtain one or more areas that meet the skull thickness range and put them into the first pre-selected area set.

[0184] A collision screening step: 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;

[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 device includes an upper surface and a lower surface arranged opposite 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 further include: when the three-dimensional model of the device is placed horizontally or vertically in the first preselected area and the lower surface is in contact with the inner surface, the upper surface does not contact the imaginary surface.

[0189] The method of performing the 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] a fit determination step: for each second preselected area, in response to a fit determination operation of moving the three-dimensional model of the device within the second preselected area, obtaining a plurality of projection results of the three-dimensional model of the device on the outer surface of the skull;

[0191] detecting, based on a degree of fit between the upper surface of the three-dimensional model of the device and each of the projection results, 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 in 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 Example

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

[0195] The surgical planning device includes 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] determining a second set of preselected regions from the skull image model using a three-dimensional model of the implanted device according to a collision screening condition, wherein the second set of preselected regions includes at least one second preselected region;

[0198] Determining a third preselected region set from the skull image model using the device three-dimensional model according to a fitting judgment condition, wherein the third preselected region set includes at least one third preselected region;

[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] Acquire the patient's skull image data, and reconstruct the patient's skull image model based on the skull image data.

[0202] In some embodiments, the skull image model is used to display the thickness of different locations of the patient's skull, and the thickness constraint is used to limit the first preselected area to a preset skull thickness range; the at least one processor is configured to determine the first preselected 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 place one or more areas that meet the skull thickness range into the first pre-selected area set based on the importance score of the brain tissue in the areas that meet the skull thickness range.

[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 preselected area, detecting whether there is an area meeting the collision screening condition within the first preselected 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 disposed opposite to each other, 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 offsetting the outer surface of the skull image model by a path according to a preset distance away from the brain tissue.

[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] moving the position of the three-dimensional model of the device within the first preselected area according to a first preset step length to obtain coarse screening information;

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

[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, acquiring a plurality of projection results of the three-dimensional model of the device on the outer surface of the skull;

[0216] detecting, based on a degree of fit between the upper surface of the three-dimensional model of the device and each of the projection results, 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 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] The display device 20 is used to display the target pre-selected area.

[0225] Thus, the surgical planning system, through the surgical planning device 10, can quickly obtain at least one preselected target region, reducing the physician's workload in manual operations and analysis, improving work efficiency and the accuracy of implant location selection. The display device 20, such as a display or projector, can present the preselected target region to the physician in the form of an image or virtual model. This allows the physician to intuitively observe, compare, and evaluate the characteristics of different preselected regions, enabling better implant location selection.

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

[0227] Storage medium embodiment

[0228] The embodiment of the present application also provides a computer-readable storage medium, the specific embodiment of which is consistent with the embodiment described 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 that can 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] A computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable storage medium may also be any computer-readable medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, or any suitable combination thereof. The program code used to perform the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a standalone software package, partially on the user computing device and 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 embodiments of the present application also provide a computer program product, the specific embodiments of which are consistent with the embodiments described in the above method embodiments and the technical effects achieved, and some contents will not be repeated here.

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

[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 disc 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 complied with the functional enhancement and use requirements emphasized by the Patent Law. The above description and drawings of this application are only 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 those of 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 includes 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; determining a second set of preselected regions from the skull image model using a three-dimensional model of the implanted device according to a collision screening condition, wherein the second set of preselected regions includes at least one second preselected region; Determining a third preselected region set from the skull image model using the device three-dimensional model according to a fitting judgment condition, wherein the third preselected region set includes at least one third preselected region; Acquire and display at least one target preselected area from the skull image model based on the determined first preselected area set, the second preselected area set, and the third preselected area set, to assist in selecting an implantation position of the implant device in the skull; 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 preselected area, detecting whether there is an area meeting the collision screening condition within the first preselected area; If so, one or more regions meeting the collision screening condition are placed into the second pre-selected region set; The three-dimensional model of the device includes an upper surface and a lower surface 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 in a horizontal or vertical direction and the upper surface is aligned with the imaginary surface, the lower surface does not contact the inner surface of the skull image model; When the three-dimensional model of the device is placed in the first preselected area in a horizontal or vertical direction 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 does not contact 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 does not contact the imaginary surface of the skull imaging model; 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.

2. The surgical planning device according to claim 1, wherein: The at least one processor is configured to acquire the skull image model in the following manner when executing the computer program: Acquire the patient's skull image data, and reconstruct the patient's skull image model based on the skull image data.

3. The surgical planning device according to claim 2, wherein: The skull image model is used to display the thickness of different locations of the patient's skull, and the thickness constraint is used to limit the first preselected area to a preset skull thickness range; the at least one processor is configured to determine the first preselected 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 place one or more areas that meet the skull thickness range into the first pre-selected area set based on the importance score of the brain tissue in the areas that meet the skull thickness range.

4. The surgical planning device according to claim 1, wherein: The at least one processor is configured to perform collision screening operations in the following manner when executing the computer program: moving the position of the three-dimensional model of the device within the first preselected area according to a first preset step length to obtain coarse screening information; According to the coarse screening information, the position of the device three-dimensional model is moved within the first preselected area according to a second preset step size to obtain an area that meets the collision screening condition, and the second preset step size is smaller than the first preset step size.

5. The surgical planning device according to claim 1, wherein: 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: 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, acquiring a plurality of projection results of the three-dimensional model of the device on the outer surface of the skull; detecting, based on a degree of fit between the upper surface of the three-dimensional model of the device and each of the projection results, 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.

6. The surgical planning device according to claim 5, 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.

7. 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; determining a second set of preselected regions from the skull image model using a three-dimensional model of the implanted device according to a collision screening condition, wherein the second set of preselected regions includes at least one second preselected region; Determining a third preselected region set from the skull image model using the device three-dimensional model according to a fitting judgment condition, wherein the third preselected region set includes at least one third preselected region; Acquire and display at least one target preselected area from the skull image model based on the determined first preselected area set, the second preselected area set, and the third preselected area set, to assist in selecting an implantation position of the implant device in the skull; 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 preselected area, detecting whether there is an area meeting the collision screening condition within the first preselected area; If so, one or more regions meeting the collision screening condition are placed into the second pre-selected region set; The three-dimensional model of the device includes an upper surface and a lower surface 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 in a horizontal or vertical direction and the upper surface is aligned with the imaginary surface, the lower surface does not contact the inner surface of the skull image model; When the three-dimensional model of the device is placed in the first preselected area in a horizontal or vertical direction 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 does not contact 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 does not contact the imaginary surface of the skull imaging model; 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.

8. The surgical planning method according to claim 7, wherein: 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.

9. The surgical planning method according to claim 7, wherein: The method of determining the third pre-selected area set includes: performing the following processing for each second pre-selected area: In response to a fit determination operation of moving the three-dimensional model of the device within the second preselected area, acquiring a plurality of projection results of the three-dimensional model of the device on the outer surface of the skull; detecting, based on a degree of fit between the upper surface of the three-dimensional model of the device and each of the projection results, 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.

10. 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 6, 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.

11. 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, it implements the functions of the surgical planning device according to any one of claims 1 to 6, or implements the steps of the method according to any one of claims 7 to 9.

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