Operation planning device and method, medical system and storage medium

Abstract

The invention provides an operation planning method and device, a medical system and a computer readable storage medium. The method comprises the steps of obtaining medical image data of a skull of a patient and a device three-dimensional model of a medical device; performing skull three-dimensional reconstruction according to the medical image data to obtain a skull three-dimensional model of the patient; according to the equipment three-dimensional model and the skull three-dimensional model, screening implantation positions of the medical equipment to obtain an alternative position set and screening information corresponding to each alternative position in the screening process; according to the screening information of each alternative position, calculating an implantation score corresponding to each alternative position, and according to the implantation score, judging whether the patient meets an operation condition or not; and generating prompt information and sending the prompt information to terminal equipment so as to prompt a doctor whether the patient meets the operation condition or not. The method can accurately evaluate whether the patient is suitable for the medical equipment implantation operation or not.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to surgical planning equipment and methods, medical systems, and computer-readable storage media. Background Art

[0002] In the surgical treatment of some diseases, medical devices are implanted in the head. In order to reduce the surgical risks brought by this procedure, and to consider the scalp tension caused by the large size of the implant, as well as the aesthetic effect after suturing, it is necessary to screen the patient group before surgery to determine whether the patient is suitable for surgery. Because medical devices have a certain size and shape, and because there are significant differences between individual skulls, how to determine whether a patient is suitable for surgery is one of the key issues in this type of surgery.

[0003] Based on this, the present application provides a surgical planning device and method, a medical system and a computer-readable storage medium to improve the relevant technology. Summary of the invention

[0004] The purpose of this application is to provide a surgical planning device and method, a medical system and a computer-readable storage medium to accurately assess whether a patient is suitable for medical device implantation surgery.

[0005] The purpose of this application is achieved by the following technical solutions:

[0006] In a first aspect, the present application provides a surgical planning method, the method comprising:

[0007] Acquiring medical imaging data of the patient's skull and a three-dimensional model of the medical device;

[0008] Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient;

[0009] Screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes one or more of the following: thickness screening, collision screening, and fit screening;

[0010] Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position, and determine whether the patient meets the surgical conditions according to the implantation score;

[0011] Generate a prompt message and send it to the terminal device to prompt the doctor whether the patient meets the surgical conditions.

[0012] The beneficial effect of this technical solution is to accurately assess whether the patient is suitable for medical device implantation surgery. Specifically, by obtaining the medical imaging data of the patient's skull and the three-dimensional model of the device, the skull is reconstructed in three dimensions, and the implantation position of the medical device is screened according to the three-dimensional model of the skull and the three-dimensional model of the skull, taking into account the individual differences of the skull and the size and shape differences of the medical device. The screening forms include thickness screening, collision screening, and fit screening, which not only ensure the safety of the operation and the implantation effect, but also consider the scalp tension after the operation and the aesthetic effect after suturing, thereby reducing the risk of surgery. The implantation score is calculated based on the screening information of each candidate position, and the patient is judged based on the score to determine whether the surgical conditions are met, thereby improving the scientificity and accuracy of the surgical decision. The prompt information is generated and sent to the terminal device for reference by the doctor to help the doctor make a decision on whether to perform the operation. In summary, a surgical plan can be formulated according to the specific situation of the patient to improve the success rate and efficacy of the operation.

[0013] In some optional embodiments, the screening information corresponding to each candidate position during the screening process includes one or more of the following:

[0014] The thickness of the skull of the three-dimensional skull model at the candidate position;

[0015] The distance between the candidate position and a preset reference plane, wherein the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the central surface of the skull;

[0016] The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the skull three-dimensional model at the alternative position.

[0017] The beneficial effect of this technical solution is that it provides a variety of screening information, including skull thickness, the distance between the candidate position and the reference plane, and the fit between the upper surface of the device and the outer surface of the skull. This information comprehensively considers the surgical risk, the adaptability of the implantation position, and the aesthetic effect, and can comprehensively evaluate the feasibility of the surgical plan. Skull thickness is an important indicator for evaluating alternative positions, which can help determine the size and adaptability of the implanted device and avoid surgical risks and adverse consequences due to insufficient or excessive thickness. The distance between the alternative position and the reference plane provides additional spatial information, which helps determine the depth of the implantation position and ensure the safe implantation and stability of the device. The fit between the upper surface of the device and the outer surface of the skull evaluates the degree of matching after implantation, and can consider the scalp tension after surgery and the aesthetic effect after suturing. By comprehensively utilizing these screening information, the implantation score of each alternative position can be quantitatively evaluated, providing doctors with a scientific basis and reference, and improving the accuracy and reliability of surgical decisions.

[0018] In some optional embodiments, judging whether the patient meets the surgical conditions according to the implantation score includes:

[0019] Obtaining a reference score of implantation scores corresponding to all candidate positions, wherein the reference score is the highest score or the average score;

[0020] When the reference score is greater than a preset score, determining that the patient meets the surgical condition;

[0021] When the reference score is not greater than the preset score, it is determined that the patient does not meet the surgical condition.

[0022] The beneficial effect of this technical solution is that the concept of reference score is introduced, and the implantation scores of all candidate positions can be compared and judged, providing an objective basis for the decision of surgical conditions. Specifically, the reference score can select the highest score or the average score as the standard, and the specific selection is determined according to actual needs and medical standards, with high flexibility. When the reference score is greater than the preset score, it is determined that the patient meets the surgical conditions, indicating that there is a suitable implantation scheme in the alternative position, and the surgical operation can be performed. When the reference score is not greater than the preset score, it is determined that the patient does not meet the surgical conditions, indicating that there is no implantation scheme that meets the requirements in the alternative position, and other treatment methods need to be re-evaluated or considered. By comparing the reference score with the preset score, it is possible to quickly and accurately determine whether the patient is suitable for surgery, provide a basis for decision-making for doctors, save time and resources, and improve the efficiency of surgical plan selection. In summary, by setting quantitative scores and judgment conditions, the judgment of surgical conditions is made more scientific and reliable, subjective intervention is reduced, and the repeatability and consistency of surgical decisions are improved.

[0023] In some optional embodiments, the screening method includes thickness screening, and the thickness screening process includes:

[0024] Obtaining the skull thickness corresponding to each regional point in the three-dimensional skull model;

[0025] All regional points in the three-dimensional skull model where the skull thickness is within a preset thickness range are included in the candidate position set.

[0026] The beneficial effect of this technical solution is that by obtaining the skull thickness of each regional point in the three-dimensional skull model, detailed skull thickness information can be obtained to provide a basis for thickness screening. The preset thickness range can be set according to the size of the medical device itself and the surgical standard, which is highly flexible. All regional points in the three-dimensional skull model whose skull thickness is within the preset thickness range are included in the set of alternative positions to ensure that the skull thickness at the alternative positions meets the surgical requirements. The thickness screening process effectively excludes areas with insufficient or excessive skull thickness, avoiding surgical risks and adverse consequences. By considering only regional points that meet the preset thickness range, the most suitable position can be quickly identified among many alternative positions, providing an efficient and feasible option for surgical planning.

[0027] In some optional embodiments, the screening method further includes collision screening, and the collision screening process includes:

[0028] Detecting whether each area point in the candidate position set satisfies a collision constraint condition;

[0029] Eliminate the area points that do not satisfy the collision constraint condition from the candidate position set;

[0030] The collision constraints include:

[0031] After the medical device is implanted in the brain, the distance that any point on the upper surface of the medical device is higher than the outer surface of the skull does not exceed a preset distance, and the lower surface of the medical device does not contact the inner surface of the skull.

[0032] The beneficial effect of this technical solution is that collision screening is a detection process for each regional point in the set of candidate positions, which is used to exclude positions that do not meet the collision constraint conditions. In the collision screening process, by judging the collision between each regional point in the set of candidate positions and the medical device, it can be determined whether it meets the collision constraint conditions. Regional points that do not meet the collision constraint conditions will be eliminated to ensure that there is no collision between the position of the medical device in the final set of candidate positions and the surface corresponding to the skull. The collision constraint conditions mainly include two aspects: one is that the distance of any point on the upper surface of the medical device above the outer surface of the skull does not exceed the preset distance, so as to avoid discomfort and complications caused by excessive protrusion of the implant; the other is that the lower surface of the medical device does not contact the inner surface of the skull to ensure that the medical device does not press down on the brain tissue. Through collision screening, alternative positions that do not meet the collision constraint conditions can be excluded, reducing surgical risks and ensuring the safe implantation and stability of medical devices.

[0033] In some optional embodiments, detecting whether each area point in the candidate position set satisfies a collision constraint condition includes:

[0034] Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0035] For each first target point, perform the following processing:

[0036] The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, the lower surface of the three-dimensional model of the device is parallel to a section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0037] If the three-dimensional model of the device does not collide with the preset surface of the three-dimensional model of the skull, determining that the regional point corresponding to the first target point satisfies the collision constraint condition, and the preset surface is a surface on the outside of the skull that is the preset distance away from the outer surface of the skull;

[0038] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0039] The beneficial effect of this technical solution is that by obtaining the first target point corresponding to each regional point, the point on the inner surface of the skull closest to the regional point can be determined as the basis for judging the collision constraint condition. For each first target point, the position of the three-dimensional model of the device is adjusted so that the first reference point of the lower surface of the medical device coincides with the first target point, and the lower surface of the medical device is parallel to the section of the inner surface of the skull at this point, and the reference line of the medical device is parallel to the midsagittal line. After the position of the lower surface of the three-dimensional model of the device is set, the upper surface of the three-dimensional model of the device is detected to see whether it collides with the preset surface of the three-dimensional model of the skull. The preset surface refers to a surface located outside the skull and at a preset distance from the outer surface of the skull. If the upper surface of the three-dimensional model of the device does not collide with the preset surface, it indicates that the regional point corresponding to the first target point meets the collision constraint condition and can be used as an alternative position. If the upper surface of the three-dimensional model of the device collides with the preset surface, it indicates that the regional point corresponding to the first target point does not meet the collision constraint condition and needs to be excluded. In summary, by accurately setting the 3D model of the device and combining it with the collision judgment of the preset surface, the collision situation of the candidate positions can be accurately evaluated, providing a reliable basis for the formulation of the surgical plan. Through collision screening, the device shape, skull structure and preset surface conditions are comprehensively considered, which improves the accuracy and reliability of implant position screening, and can exclude implant positions that collide with the inside of the skull, ensuring the safety and stability of the operation.

[0040] In some optional embodiments, detecting whether each area point in the candidate position set satisfies a collision constraint condition includes:

[0041] Acquire a second target point corresponding to each regional point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the regional point, and the preset surface is a surface on the outside of the skull that is at a preset distance from the outer surface of the skull;

[0042] For each second target point, perform the following processing:

[0043] Setting the device three-dimensional model so that a second reference point of an upper surface of the device three-dimensional model coincides with the second target point, the upper surface of the device three-dimensional model is parallel to a tangent plane of the preset surface at the second target point, and the reference line of the device three-dimensional model is parallel to the midsagittal line;

[0044] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0045] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0046] The beneficial effect of the technical solution is that by obtaining the second target point corresponding to each regional point, the point on the preset surface of the skull three-dimensional model closest to the regional point can be determined as the basis for judging the collision constraint condition. The preset surface refers to a surface located outside the skull and at a preset distance from the outer surface of the skull. For each second target point, the position of the device three-dimensional model is adjusted so that the second reference point on the upper surface of the medical device coincides with the second target point, and the upper surface of the medical device is parallel to the section of the preset surface at this point, and the reference line of the medical device is parallel to the midsagittal line. After the position of the upper surface of the device three-dimensional model is set, the lower surface of the device three-dimensional model is detected to see if there is a collision with the inner surface of the skull of the skull three-dimensional model. If the lower surface of the device three-dimensional model does not collide with the inner surface of the skull, it indicates that the regional point corresponding to the second target point meets the collision constraint condition and can be used as an alternative position. If the lower surface of the device three-dimensional model collides with the inner surface of the skull, it indicates that the regional point corresponding to the second target point does not meet the collision constraint condition and needs to be excluded. In summary, by accurately setting the 3D model of the device and combining it with the collision judgment of the preset surface, the collision situation of the candidate positions can be accurately evaluated, providing a reliable basis for the formulation of the surgical plan. Through collision screening, the device shape, skull structure and preset surface conditions are comprehensively considered, which improves the accuracy and reliability of implant position screening, and can exclude implant positions that collide with the inside of the skull, ensuring the safety and stability of the operation.

[0047] In some optional embodiments, the screening method further includes fit screening, and the fit screening process includes:

[0048] For each area point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the three-dimensional skull model at the area point;

[0049] The regional points whose fit degree is less than a preset fit degree are removed from the candidate position set.

[0050] The beneficial effect of this technical solution is that fit screening is an evaluation process for each regional point in the set of candidate positions, which is used to exclude positions that do not meet the fit requirements. Specifically, for each regional point, the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull of the three-dimensional model of the skull at that point is calculated. The fit can be calculated using various evaluation methods and indicators, such as contour similarity, minimum distance, curvature matching, etc. According to the preset fit requirements, find the regional points whose fit is less than the preset fit, and remove them from the set of candidate positions. The purpose of fit screening is to ensure the degree of match between the upper surface of the device and the outer surface of the skull at the alternative position, thereby reducing scalp tension after surgery and improving the aesthetic effect after suturing. Through fit screening, an alternative position with a higher fit with the outer surface of the skull can be selected to ensure the fit stability between the medical device and the skull, and improve the success rate of the operation and patient satisfaction.

[0051] In a second aspect, the present application provides a surgical planning device, the surgical planning device comprising a memory and at least one processor, the memory storing a computer program, and the at least one processor being configured to implement the following steps when executing the computer program:

[0052] Acquiring medical imaging data of the patient's skull and a three-dimensional model of the medical device;

[0053] Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient;

[0054] Screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes one or more of the following: thickness screening, collision screening, and fit screening;

[0055] Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position, and determine whether the patient meets the surgical conditions according to the implantation score;

[0056] Generate a prompt message and send it to the terminal device to prompt the doctor whether the patient meets the surgical conditions.

[0057] In some optional embodiments, the screening information corresponding to each candidate position during the screening process includes one or more of the following:

[0058] The thickness of the skull of the three-dimensional skull model at the candidate position;

[0059] The distance between the candidate position and a preset reference plane, wherein the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the central surface of the skull;

[0060] The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the skull three-dimensional model at the alternative position.

[0061] In some optional embodiments, the at least one processor is configured to determine whether the patient meets the surgical conditions according to the implantation score in the following manner when executing the computer program:

[0062] Obtaining a reference score of implantation scores corresponding to all candidate positions, wherein the reference score is the highest score or the average score;

[0063] When the reference score is greater than a preset score, determining that the patient meets the surgical condition;

[0064] When the reference score is not greater than the preset score, it is determined that the patient does not meet the surgical condition.

[0065] In some optional embodiments, the screening method includes thickness screening, and the at least one processor is configured to perform thickness screening in the following manner when executing the computer program:

[0066] Obtaining the skull thickness corresponding to each regional point in the three-dimensional skull model;

[0067] All regional points in the three-dimensional skull model where the skull thickness is within a preset thickness range are included in the candidate position set.

[0068] In some optional embodiments, the screening method further includes collision screening, and the at least one processor is configured to perform collision screening in the following manner when executing the computer program:

[0069] Detecting whether each area point in the candidate position set satisfies a collision constraint condition;

[0070] Eliminate the area points that do not satisfy the collision constraint condition from the candidate position set;

[0071] The collision constraints include:

[0072] After the medical device is implanted in the brain, the distance that any point on the upper surface of the medical device is higher than the outer surface of the skull does not exceed a preset distance, and the lower surface of the medical device does not contact the inner surface of the skull.

[0073] In some optional embodiments, the at least one processor is configured to detect whether each area point in the candidate position set satisfies the collision constraint condition in the following manner when executing the computer program:

[0074] Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0075] For each first target point, perform the following processing:

[0076] The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, the lower surface of the three-dimensional model of the device is parallel to a section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0077] If the three-dimensional model of the device does not collide with the preset surface of the three-dimensional model of the skull, determining that the regional point corresponding to the first target point satisfies the collision constraint condition, and the preset surface is a surface on the outside of the skull that is the preset distance away from the outer surface of the skull;

[0078] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0079] In some optional embodiments, the at least one processor is configured to detect whether each area point in the candidate position set satisfies the collision constraint condition in the following manner when executing the computer program:

[0080] Acquire a second target point corresponding to each regional point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the regional point, and the preset surface is a surface on the outside of the skull that is at a preset distance from the outer surface of the skull;

[0081] For each second target point, perform the following processing:

[0082] Setting the device three-dimensional model so that a second reference point of an upper surface of the device three-dimensional model coincides with the second target point, the upper surface of the device three-dimensional model is parallel to a tangent plane of the preset surface at the second target point, and the reference line of the device three-dimensional model is parallel to the midsagittal line;

[0083] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0084] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0085] In some optional embodiments, the screening method further includes fit screening, and the at least one processor is configured to perform fit screening in the following manner when executing the computer program:

[0086] For each area point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the three-dimensional skull model at the area point;

[0087] The regional points whose fit degree is less than a preset fit degree are removed from the candidate position set.

[0088] In a third aspect, the present application provides a medical system, which includes a medical device and any one of the above-mentioned surgical planning devices.

[0089] 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 steps of any of the above methods or implements the functions of any of the above surgical planning devices.

[0090] In a fifth aspect, the present application also 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 steps of any of the above methods or implements the functions of any of the above surgical planning devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] The present application is further described below in conjunction with the accompanying drawings and implementation methods.

[0092] Figure 1 It is a flowchart of a surgical planning method provided in an embodiment of the present application.

[0093] Figure 2 It is a flowchart of determining whether surgical conditions are met, provided in an embodiment of the present application.

[0094] Figure 3 It is a schematic diagram of the principle of thickness screening provided in an embodiment of the present application.

[0095] Figure 4 It is a schematic diagram of a collision screening process provided in an embodiment of the present application.

[0096] Figure 5 It is a schematic diagram of the principle of detecting whether a point in a region satisfies a collision constraint condition provided in an embodiment of the present application.

[0097] Figure 6 It is a schematic diagram of another principle of detecting whether a point in an area satisfies a collision constraint condition provided in an embodiment of the present application.

[0098] Figure 7 It is a schematic diagram of a fit screening process provided in an embodiment of the present application.

[0099] Figure 8 It is a structural block diagram of a surgical planning device provided in an embodiment of the present application.

[0100] Fig. 9 It is a structural diagram of a program product provided in an embodiment of the present application. DETAILED DESCRIPTION

[0101] The technical solution in the present application will be described below in conjunction with the drawings and specific implementation methods of the specification of the present application. It should be noted that, under the premise of no conflict, the various implementation methods or technical features described below can be arbitrarily combined to form a new implementation method.

[0102] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can represent: a, b, c, a and b, a and c, b and c, a and b and c, where a, b and c can be single or multiple. It is worth noting that "at least one" can also be interpreted as "one or more items".

[0103] It should also be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any implementation or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other implementations or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0104] Below, one of the application fields of the present application (i.e., implantable neural stimulator) is briefly described.

[0105] Implantable medical systems include implantable neural stimulation systems, implantable cardiac stimulation systems (also known as pacemakers), implantable drug delivery systems (IDDS), and lead switching systems. Examples of implantable neural stimulation systems include deep brain stimulation (DBS), implantable cortical nerve stimulation (CNS), implantable spinal cord stimulation (SCS), implantable sacral nerve stimulation (SNS), and implantable vagus nerve stimulation (VNS).

[0106] The implantable neural electrical stimulation system includes a stimulator implanted in the patient's body (i.e., an implantable neural stimulator, a neural stimulation device) and a programmable device disposed outside the patient's body. In other words, the stimulator is an implant, or the implant includes the stimulator. The relevant neural regulation technology mainly implants electrodes (electrodes, for example, in the form of electrode wires) in specific parts of the tissue of the organism (i.e., target points) through stereotactic surgery, and emits discharge pulses to the target points through the electrodes to regulate the electrical activities and functions of the corresponding neural structures and networks, thereby improving symptoms and relieving pain. Among them, the stimulator may include an IPG, an extension wire and an electrode wire. The IPG (implantable pulse generator) is disposed in the patient's body, responds to the programmable instructions sent by the programmable device, and relies on sealed batteries and circuits to provide controllable electrical stimulation energy to the tissues in the body. The IPG delivers one or more controllable specific electrical stimulations to specific areas of the tissues in the body through the extension wire and the electrode wire. The extension wire is used in conjunction with the IPG as a transmission medium for the electrical stimulation signal, and transmits the electrical stimulation signal generated by the IPG to the electrode wire. The electrode wire delivers electrical stimulation to a specific area of ​​the tissue in the body through a plurality of electrode contacts. The stimulator is provided with one or more electrode wires on one side or both sides, and a plurality of electrode contacts are provided on the electrode wire, and the electrode contacts can be arranged uniformly or non-uniformly on the circumference of the electrode wire. As an example, the electrode contacts can be arranged in an array of 4 rows and 3 columns (a total of 12 electrode contacts) on the circumference of the electrode wire. The electrode contacts can include stimulation electrode contacts and / or collection electrode contacts. The electrode contacts can be in the shape of sheets, rings, dots, etc., for example.

[0107] In other embodiments, the stimulator only includes a pulse generator and an electrode wire, wherein the pulse generator is embedded in the patient's skull and the electrode wire is implanted in the patient's skull, and the pulse generator is directly connected to the electrode wire without extending the wire.

[0108] As an example, a deep brain stimulation system (DBS) includes an implantable pulse generator (IPG), an extension wire and an electrode wire, and the IPG is connected to the electrode wire through the extension wire. The IPG is implanted in the patient's body, for example, in the patient's chest or other body parts.

[0109] As another example, DBS includes an IPG and an electrode lead, and the IPG is directly connected to the electrode lead. The IPG is implanted in the patient's head, for example, a groove is made in the patient's skull, and then the IPG is installed in the groove of the skull. In this case, the IPG may not protrude from the outer surface of the skull, or may partially protrude from the outer surface of the skull.

[0110] In some embodiments, the stimulated body tissue may be the patient's brain tissue, and the stimulated site may be a specific site of the brain tissue. When the patient's disease type is different, the stimulated site is generally different, and the number of stimulation contacts (single source or multiple sources) used, the use of one or more (single channel or multiple channels) specific electrical stimulation signals, and the stimulation parameter data are also different. The embodiments of the present application do not limit the applicable disease types, which may be deep brain stimulation (DBS), spinal cord stimulation (SCS), pelvic stimulation, gastric stimulation, peripheral nerve stimulation, and functional electrical stimulation. The disease type is applicable. Among them, 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, psychiatric disorders (e.g., major depressive disorder (MDD)), bipolar disorder, anxiety disorders, post-traumatic stress disorder, hypotension, obsessive-compulsive disorder (OCD), behavioral disorders, mood disorders, memory disorders, mental state disorders, movement disorders (e.g., essential tremor or Parkinson's disease), Huntington's disease, Alzheimer's disease, drug addiction, autism or other neurological or psychiatric diseases and injuries.

[0111] In the embodiment of the present application, when the programmable device and the stimulator establish a programmable connection, the programmable device can be used to adjust the stimulation parameters of the stimulator (or the stimulation parameters of the pulse generator, different stimulation parameters correspond to different electrical stimulation signals), or the stimulator can sense the patient's electrophysiological activities to collect electrophysiological signals, and the collected electrophysiological signals can be used to continue to adjust the stimulation parameters of the stimulator.

[0112] The stimulation parameters of the electrical stimulation signal 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), and amplitude (generally expressed in voltage, that is, the intensity of each pulse, in V), timing (for example, continuous or triggered), stimulation mode (including one or more of current mode, voltage mode, timed stimulation mode and cyclic stimulation mode), doctor-controlled upper and lower limits (range adjustable by the doctor) and patient-controlled upper and lower limits (range adjustable by the patient). Any one or more of the above. In specific applications, the stimulation parameters of the stimulator can be adjusted in current mode or voltage mode.

[0113] The programmable device can be a doctor's programmer (i.e., a programmer used by a doctor) or a patient programmer (i.e., a programmer used by a patient). The doctor's programmer can be, for example, a tablet computer, a laptop computer, a desktop computer, a mobile phone, or other intelligent terminal device equipped with programmable software. The patient programmer can be, for example, a tablet computer, a laptop computer, a desktop computer, a mobile phone, or other intelligent terminal device equipped with programmable software. The patient programmer can also be other electronic devices with programmable functions (e.g., a charger with programmable functions, a data acquisition device).

[0114] This application does not restrict the data interaction between the doctor programmer and the stimulator. When the doctor performs remote programming, the doctor programmer can interact with the stimulator through the server and the patient programmer. When the doctor performs offline programming with the patient face to face, the doctor programmer can interact with the stimulator through the patient programmer, and the doctor programmer can also interact with the stimulator directly.

[0115] The patient programmer may include a host communicating with the server and a sub-machine communicating with the stimulator, and the host and the sub-machine may be connected in a communicative manner. Among them, the doctor programmer may exchange data with the server through the 3G / 4G / 5G network, the server may exchange data with the host through the 3G / 4G / 5G network, the host may exchange data with the sub-machine through the Bluetooth protocol / WIFI protocol / USB protocol, the sub-machine may exchange data with the stimulator through the 401MHz-406MHz working frequency band / 2.4GHz-2.48GHz working frequency band, and the doctor programmer may directly exchange data with the stimulator through the 401MHz-406MHz working frequency band / 2.4GHz-2.48GHz working frequency band.

[0116] In the surgical treatment of some diseases, medical devices are implanted in the head. In order to reduce the surgical risks brought by this procedure, and to consider the scalp tension caused by the large size of the implant, as well as the aesthetic effect after suturing, it is necessary to screen the patient group before surgery to determine whether the patient is suitable for surgery. Because medical devices have a certain size and shape, and because there are significant differences between individual skulls, how to determine whether a patient is suitable for surgery is one of the key issues in this type of surgery.

[0117] Medical equipment is, for example, a stimulator implanted in the skull. Considering factors such as the curvature of the skull at the implantation location and the range of bone removal, the stimulator is designed to have a certain curvature to achieve the best fit with the skull after the stimulator is implanted in the skull. At present, the commonly used implantation locations of stimulators are the parietal bones and occipital bones. Usually, the neurosurgeon compares the shape of the patient's skull and the shape of the stimulator during the operation, and performs a craniectomy after selecting an approximate range, while the skull is removed and the shape of the stimulator is adapted. This method will lead to a longer operation time. More importantly, due to individual differences, this adaptation is often not achieved in the actual application of clinical surgery, which is manifested as a part of the stimulator being well adapted to the skull, and a part being upturned and protruding from the skull surface. The doctor can only compromise and choose an implantation location, curvature, and angle for fixation. In this case, complications are often prone to occur clinically, such as abnormal appearance of the patient's head after suturing the skin, affecting the appearance; causing excessive tension on the sutured skin, resulting in poor blood flow to the local skin, affecting wound healing, and even exposing the neurostimulator after implantation for a period of time. In addition, a poorly fitted stimulator implant also affects the patient's sleeping position, and the head cannot be tilted to the implanted side.

[0118] Based on this, the present application provides a surgical planning method, device, medical system and computer-readable storage medium to improve related technologies.

[0119] Method Embodiment

[0120] See also Figure 1 , Figure 1 It is a flowchart of a surgical planning method provided in an embodiment of the present application.

[0121] The method comprises:

[0122] Step S101: Acquire medical imaging data of a patient's skull and a three-dimensional model of the medical device;

[0123] Step S102: performing three-dimensional skull reconstruction according to the medical image data to obtain a three-dimensional skull model of the patient;

[0124] Step S103: screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull, obtaining a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes one or more of the following: thickness screening, collision screening, and fit screening;

[0125] Step S104: calculating the implantation score corresponding to each candidate position according to the screening information of each candidate position, and judging whether the patient meets the surgical conditions according to the implantation score;

[0126] Step S105: Generate prompt information and send it to the terminal device to prompt the doctor whether the patient meets the surgical conditions.

[0127] In one embodiment, the medical device may include a stimulator for implantation into a patient's skull.

[0128] The embodiment of the present application does not limit the shape and size of the medical device. The shape of the medical device can be a regular shape such as a circle, an ellipse, a rectangle, a rounded rectangle, or an irregular shape. For example, the medical device can be a block-shaped rectangular parallelepiped structure (with rounded corners).

[0129] In one embodiment, the medical imaging data may include at least one of the following: CT data, MR data, PET data, X-ray data, PET-CT data, and PET-MR data.

[0130] Specifically, patients can obtain DICOM (Digital Imaging and Communications in Medicine) CT data of tissue images and skull bone window images by scanning the head CT. The CT data here can be burned on a CD for backup. Of course, it can also be MRI, but this application is not limited to this.

[0131] In one embodiment, in step S101, the three-dimensional model of the medical device is obtained by:

[0132] The 3D model of the medical device is constructed using 3D software, such as CREO, SolidWorks, UG or Pro / E. The 3D model of the same medical device can be backed up and used for different individuals.

[0133] In one embodiment, in step S102, the method of three-dimensional reconstruction of the skull may include:

[0134] Import the patient's medical imaging data into preset software, such as Mimics Medical software, and reconstruct the three-dimensional structure of the patient's skull for backup. Specifically, import DICOM data - select the skull threshold range - and build a three-dimensional skull model.

[0135] The embodiments of the present application do not limit the terminal device, which may be, for example, a mobile phone, a tablet computer, a laptop computer, a desktop computer, a smart wearable device, or other intelligent terminal device with a display screen and a speaker, or the terminal device may be a workstation or a console with a display screen and a speaker. The display screen may be a touch display screen or a non-touch display screen.

[0136] In one embodiment, when the patient meets the surgical conditions, the prompt message may be "This patient is suitable for implant surgery, please arrange the surgery as soon as possible"; when the patient does not meet the surgical conditions, the prompt message may be "This patient is not suitable for implant surgery, please consider other treatment methods."

[0137] As an example, let’s say a patient needs a stimulator implant. Here’s how the surgery might be planned:

[0138] Doctors use medical imaging technologies such as CT scans or magnetic resonance imaging (MRI) to obtain imaging data of the patient's skull. At the same time, medical device manufacturers provide a three-dimensional model of the corresponding medical device, describing the shape, size and characteristics of the device. Based on the patient's medical imaging data, the corresponding software is used to perform three-dimensional reconstruction of the skull to generate a three-dimensional model of the patient's skull. This model can accurately present the shape and structure of the patient's skull. Combined with the three-dimensional model of the device and the three-dimensional model of the patient's skull, the implantation position is screened, and the screening process includes thickness screening, collision screening and fit screening. For example, the thickness range can be set in advance, and only the positions where the skull thickness meets the requirements are selected as candidate positions; at the same time, the collision between the upper and lower surfaces of the device and the inner and outer surfaces of the skull can be detected, and the areas where the collision occurs can be excluded; in addition, the fit between the upper surface of the device and the outer surface of the skull can be calculated, and the positions where the fit is lower than the preset value can be eliminated. In this process, each candidate position will have corresponding screening information, such as skull thickness value, collision distance, fit, etc. According to the screening information of each candidate position, various factors are comprehensively considered to calculate an implantation score for each candidate position. For example, according to indicators such as thickness, collision and fit, corresponding weights can be assigned to calculate a comprehensive implant score. A preset score threshold is set, and the implant score of each candidate position is compared with the preset score to determine whether the patient meets the surgical conditions. Based on the judgment result of the implant score, corresponding prompt information is generated, such as "the patient meets the surgical conditions" or "the patient does not meet the surgical conditions". These prompt information will be automatically sent to terminal devices, such as computers or mobile phones, to remind doctors to make corresponding decisions.

[0139] Thus, it is possible to accurately assess whether the patient is suitable for medical device implantation surgery. Specifically, by obtaining the medical imaging data of the patient's skull and the three-dimensional model of the device, the skull is reconstructed in three dimensions, and the implantation position of the medical device is screened based on the three-dimensional model of the skull and the three-dimensional model of the skull, taking into account the individual differences of the skull and the size and shape differences of the medical device. The screening forms include thickness screening, collision screening, and fit screening, which not only ensure the safety of the surgery and the implantation effect, but also consider the scalp tension after the surgery and the aesthetic effect after suturing, thereby reducing the risk of surgery. The implantation score is calculated based on the screening information of each candidate position, and the patient is judged based on the score to determine whether the surgical conditions are met, thereby improving the scientificity and accuracy of the surgical decision. The prompt information is generated and sent to the terminal device for reference by the doctor to help the doctor make a decision on whether to perform the surgery. In summary, a surgical plan can be formulated according to the specific situation of the patient to improve the success rate and efficacy of the surgery.

[0140] In some embodiments, the screening information corresponding to each candidate position during the screening process includes one or more of the following:

[0141] The thickness of the skull of the three-dimensional skull model at the candidate position;

[0142] The distance between the candidate position and a preset reference plane, wherein the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the central surface of the skull;

[0143] The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the skull three-dimensional model at the alternative position.

[0144] In one embodiment, in step S104, the implantation score corresponding to each candidate position is calculated according to the screening information of each candidate position, including:

[0145] For each candidate position, perform the following processing:

[0146] Setting a first weight corresponding to the thickness of the skull, a second weight corresponding to the distance between the candidate position and the reference plane, and a third weight corresponding to the degree of fit;

[0147] Obtaining a thickness score corresponding to the thickness of the skull at the candidate position, a fit score corresponding to the fit, and a distance score corresponding to the distance between the candidate position and the reference plane;

[0148] The implantation score corresponding to each candidate position is calculated based on the thickness score, the distance score, the fit score, and the first weight, the second weight, and the third weight.

[0149] The closer the skull thickness is to the preset thickness range, the higher the thickness score is; the closer the distance between the candidate position and the reference plane is to the preset distance range, the higher the distance score is; the higher the fit is, the higher the fit score is. The preset thickness range is, for example, 4 to 10 mm, and the preset distance range is, for example, 1 to 4 mm.

[0150] The first weight is, for example, 0.6, the second weight is, for example, 0.3, and the third weight is, for example, 0.1.

[0151] As an example, after thickness screening, collision screening and fit screening, there are two alternative implantation locations for the stimulator of patient Xiao Zhang (position A and position B, respectively).

[0152] Among them, the thickness score of position A is 90 points, the distance score is 80 points, the fit score is 60 points, and the implantation score is: 90*0.6+80*0.3+60*0.1=84 points.

[0153] The thickness score of position B is 70 points, the distance score is 80 points, the fit score is 90 points, and the implantation score is: 70*0.6+80*0.3+90*0.1=75 points.

[0154] Thus, a variety of screening information is provided, including skull thickness, the distance between the candidate position and the reference plane, and the fit between the upper surface of the device and the outer surface of the skull. This information comprehensively considers the surgical risk, the adaptability of the implantation position, and the aesthetic effect, and can comprehensively evaluate the feasibility of the surgical plan. Skull thickness is an important indicator for evaluating the candidate position, which can help determine the size and adaptability of the implanted device and avoid surgical risks and adverse consequences due to insufficient or excessive thickness. The distance between the candidate position and the reference plane provides additional spatial information, which helps determine the depth of the implantation position and ensure the safe implantation and stability of the device. The fit between the upper surface of the device and the outer surface of the skull evaluates the degree of matching after implantation, and can consider the scalp tension after surgery and the aesthetic effect after suturing. By comprehensively utilizing these screening information, the implantation score of each candidate position can be quantitatively evaluated, providing doctors with a scientific basis and reference, and improving the accuracy and reliability of surgical decisions.

[0155] See also Figure 2 , Figure 2 It is a flowchart of determining whether surgical conditions are met, provided in an embodiment of the present application.

[0156] In some embodiments, in step S104, judging whether the patient meets the surgical conditions according to the implantation score includes:

[0157] Step S201: Obtaining a reference score of implantation scores corresponding to all candidate positions, wherein the reference score is the highest score or the average score;

[0158] Step S202: when the reference score is greater than a preset score, determining that the patient meets the surgical conditions;

[0159] Step S203: When the reference score is not greater than the preset score, it is determined that the patient does not meet the surgical condition.

[0160] The embodiment of the present application does not limit the preset score, and the preset score is, for example, 80 points, 85 points or 90 points.

[0161] In one embodiment, the reference score is the highest score of the implantation scores of all candidate positions, and the preset score is 90 points.

[0162] The implantation scores of the four alternative positions for patient Xiao Li were 60 points, 70 points, 86 points, and 91 points, respectively. The highest score was 91 points, which was greater than the preset score. Patient Xiao Li met the surgical conditions.

[0163] In another embodiment, the reference score is the average score of the implantation scores of all candidate positions, and the preset score is 80 points.

[0164] The implantation scores of the four alternative positions of patient Xiao Li were 60 points, 70 points, 86 points, and 91 points, respectively. The average score was 76.75 points, which was lower than the preset score. Patient Xiao Li did not meet the surgical conditions.

[0165] Therefore, the concept of reference score is introduced, and the implantation scores of all candidate positions can be compared and judged, providing an objective basis for the decision of surgical conditions. Specifically, the reference score can select the highest score or the average score as the standard, and the specific selection is determined according to actual needs and medical standards, which is highly flexible. When the reference score is greater than the preset score, it is determined that the patient meets the surgical conditions, indicating that there is a suitable implantation scheme in the alternative position, and the surgical operation can be performed. When the reference score is not greater than the preset score, it is determined that the patient does not meet the surgical conditions, indicating that there is no implantation scheme that meets the requirements in the alternative position, and other treatment methods need to be re-evaluated or considered. By comparing the reference score with the preset score, it is possible to quickly and accurately determine whether the patient is suitable for surgery, provide a basis for decision-making for doctors, save time and resources, and improve the efficiency of surgical plan selection. In summary, by setting quantitative scores and judgment conditions, the judgment of surgical conditions is made more scientific and reliable, subjective intervention is reduced, and the repeatability and consistency of surgical decisions are improved.

[0166] In some embodiments, the screening method includes thickness screening, and the thickness screening process in step S103 includes:

[0167] Obtaining the skull thickness corresponding to each regional point in the three-dimensional skull model;

[0168] All regional points in the three-dimensional skull model where the skull thickness is within a preset thickness range are included in the candidate position set.

[0169] The skull thickness being within a preset thickness range means that the skull thickness is not less than a minimum value within the preset thickness range and not greater than a maximum value within the preset thickness range.

[0170] The present application embodiment does not limit the preset thickness range. The minimum value of the preset thickness range is, for example, 2 mm, 4 mm, or 5.5 mm, and the maximum value of the preset thickness range is, for example, 6 mm, 8.5 mm, or 10 mm. In one embodiment, the preset thickness range is, for example, 4 to 9 mm. The preset thickness range can be set according to the thickness of the medical device itself and the surgical standard.

[0171] See also Figure 3 , Figure 3 It is a schematic diagram of the principle of thickness screening provided in an embodiment of the present application.

[0172] like Figure 3 As shown, in the three-dimensional skull model, the thickness of the first region is 5.5 mm to 8.5 mm, which is within the preset thickness range, and all region points within the first region are included in the candidate position set.

[0173] Therefore, by obtaining the skull thickness of each regional point in the three-dimensional skull model, detailed skull thickness information can be obtained to provide a basis for thickness screening. The preset thickness range can be set according to the size of the medical device itself and the surgical standard, which is highly flexible. All regional points in the three-dimensional skull model whose skull thickness is within the preset thickness range are included in the set of alternative positions to ensure that the skull thickness at the alternative positions meets the surgical requirements. The thickness screening process effectively excludes areas with insufficient or excessive skull thickness, avoiding surgical risks and adverse consequences. By considering only regional points that meet the preset thickness range, the most suitable position can be quickly identified among many alternative positions, providing an efficient and feasible option for surgical planning.

[0174] See also Figure 4 , Figure 4 It is a schematic diagram of a collision screening process provided in an embodiment of the present application.

[0175] In some embodiments, the screening method further includes collision screening, and the collision screening process in step S103 includes:

[0176] Step S301: Detect whether each area point in the candidate position set satisfies the collision constraint condition;

[0177] Step S302: removing the area points that do not satisfy the collision constraint condition from the candidate position set;

[0178] The collision constraints include:

[0179] After the medical device is implanted in the brain, the distance that any point on the upper surface of the medical device is higher than the outer surface of the skull does not exceed a preset distance, and the lower surface of the medical device does not contact the inner surface of the skull.

[0180] The present application embodiment does not limit the preset distance, and the preset distance may be, for example, 1 mm, 2 mm, 3 mm or 5 mm. The inner surface of the skull is the outer surface of the dura mater.

[0181] In one embodiment, the area points satisfying the collision constraint condition are reserved in the candidate position set.

[0182] Therefore, collision screening is a detection process for each regional point in the candidate position set, which is used to exclude positions that do not meet the collision constraint conditions. In the collision screening process, by judging the collision between each regional point in the candidate position set and the medical device, it can be determined whether it meets the collision constraint conditions. Regional points that do not meet the collision constraint conditions will be eliminated to ensure that there is no collision between the position of the medical device in the final candidate position set and the surface corresponding to the skull. The collision constraint conditions mainly include two aspects: one is that the distance of any point on the upper surface of the medical device above the outer surface of the skull does not exceed the preset distance, so as to avoid discomfort and complications caused by excessive protrusion of the implant; the other is that the lower surface of the medical device does not contact the inner surface of the skull to ensure that the medical device does not press down on the brain tissue. Through collision screening, alternative positions that do not meet the collision constraint conditions can be excluded, reducing surgical risks and ensuring the safe implantation and stability of medical devices.

[0183] In some embodiments, the detecting whether each area point in the candidate position set satisfies the collision constraint condition (step S301) includes:

[0184] Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0185] For each first target point, perform the following processing:

[0186] The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, the lower surface of the three-dimensional model of the device is parallel to a section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0187] If the three-dimensional model of the device does not collide with the preset surface of the three-dimensional model of the skull, determining that the regional point corresponding to the first target point satisfies the collision constraint condition, and the preset surface is a surface on the outside of the skull that is the preset distance away from the outer surface of the skull;

[0188] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0189] The midsagittal line is the line from the midpoint between the two eyebrows to the external occipital protuberance, which is the projection line of the superior sagittal sinus. The first reference point can be any point on the central axis of the lower surface of the three-dimensional model of the device.

[0190] In the embodiment of the present application, the medical device may be axially symmetrical, and the reference line of the three-dimensional model of the device may be the central axis.

[0191] See also Figure 5 , Figure 5 It is a schematic diagram of the principle of detecting whether a point in a region satisfies a collision constraint condition provided in an embodiment of the present application.

[0192] As an example, the collision constraint detection process is as follows:

[0193] For each area point in the set of candidate positions, find the point on the inner surface of the three-dimensional skull model that is closest to the area point, i.e., the first target point. Perform the following processing steps for each first target point: Position the three-dimensional model of the device so that the first reference point on the lower surface of the three-dimensional model of the device coincides with the first target point. At the same time, the lower surface of the three-dimensional model of the device is parallel to the section of the inner surface of the skull at the first target point, and the central axis of the three-dimensional model of the device is parallel to the median sagittal line. Set a preset surface, which is an imaginary surface located on the outside of the skull at a preset distance from the outer surface of the skull, and detect whether the three-dimensional model of the device collides with the preset surface.

[0194] If the device 3D model does not collide with the preset surface, it is determined that the area point corresponding to the first target point meets the collision constraint condition. If the device 3D model collides with the preset surface, it is determined that the area point corresponding to the first target point does not meet the collision constraint condition.

[0195] In one embodiment, the upper surface of the three-dimensional model of the device is slid against a curved surface (preset surface) that is a preset distance above the outer surface of the skull. A rough search is performed with the first step length, and then a fine search is performed with the second step length to detect whether the three-dimensional model of the device collides with the inner surface of the skull (i.e., the outer surface of the dura mater), and the points in the area where the collision occurs are removed from the set of candidate positions. The first step length can be 2 μm, 5 μm, or 10 μm, and the second step length can be 0.2 μm, 0.5 μm, or 1 μm. When the set of candidate positions is empty, it is determined that the patient does not meet the surgical conditions.

[0196] Thus, by obtaining the first target point corresponding to each regional point, the point on the inner surface of the skull closest to the regional point can be determined as the basis for judging the collision constraint condition. For each first target point, the position of the three-dimensional model of the device is adjusted so that the first reference point of the lower surface of the medical device coincides with the first target point, and the lower surface of the medical device is parallel to the section of the inner surface of the skull at this point, and the reference line of the medical device is parallel to the midsagittal line. After the position of the lower surface of the three-dimensional model of the device is set, the upper surface of the three-dimensional model of the device is detected to see whether it collides with the preset surface of the three-dimensional model of the skull. The preset surface refers to a surface located outside the skull and at a preset distance from the outer surface of the skull. If the upper surface of the three-dimensional model of the device does not collide with the preset surface, it indicates that the regional point corresponding to the first target point meets the collision constraint condition and can be used as an alternative position. If the upper surface of the three-dimensional model of the device collides with the preset surface, it indicates that the regional point corresponding to the first target point does not meet the collision constraint condition and needs to be excluded. In summary, by accurately setting the three-dimensional model of the device and combining the collision judgment of the preset surface, the collision situation of the alternative position can be accurately evaluated, providing a reliable basis for the formulation of the surgical plan. Through collision screening, the conditions of device shape, skull structure and preset surface are comprehensively considered, which improves the accuracy and reliability of implant position screening. Implant positions that collide with the inside of the skull can be excluded, ensuring the safety and stability of the operation.

[0197] In some other embodiments, the detecting whether each area point in the candidate position set satisfies the collision constraint condition (step S301) includes:

[0198] Acquire a second target point corresponding to each regional point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the regional point, and the preset surface is a surface on the outside of the skull that is at a preset distance from the outer surface of the skull;

[0199] For each second target point, perform the following processing:

[0200] Setting the device three-dimensional model so that a second reference point of an upper surface of the device three-dimensional model coincides with the second target point, the upper surface of the device three-dimensional model is parallel to a tangent plane of the preset surface at the second target point, and the reference line of the device three-dimensional model is parallel to the midsagittal line;

[0201] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0202] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0203] The second reference point may be any point on the central axis of the upper surface of the three-dimensional model of the device.

[0204] See also Figure 6 , Figure 6 It is a schematic diagram of another principle of detecting whether a point in an area satisfies a collision constraint condition provided in an embodiment of the present application.

[0205] As an example, the collision constraint detection process is as follows:

[0206] For each area point in the candidate position set, find the point closest to the area point on the preset surface of the three-dimensional skull model, i.e., the second target point. The preset surface is an imaginary surface located outside the skull and at a preset distance from the outer surface of the skull. Perform the following processing steps for each second target point: Position the three-dimensional model of the medical device so that the second reference point on the upper surface of the medical device coincides with the second target point. At the same time, the upper surface of the medical device is parallel to the section of the preset surface at the second target point, and the central axis of the medical device is parallel to the midsagittal line, and detect whether the three-dimensional model of the device collides with the inner surface of the skull.

[0207] If the three-dimensional model of the device does not collide with the inner surface of the skull, it is determined that the regional point corresponding to the second target point meets the collision constraint condition. If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not meet the collision constraint condition.

[0208] In one embodiment, the lower surface of the three-dimensional model of the device is slid against the inner surface of the skull (i.e., the outer surface of the dura mater), and a rough search is performed with the first step length, and then a fine search is performed with the second step length, to detect whether the three-dimensional model of the device collides with a curved surface (preset surface) that is a preset distance higher than the outer surface of the skull, and the points in the area where the collision occurs are removed from the set of candidate positions. The first step length can be 2μm, 5μm, or 10μm, and the second step length can be 0.2μm, 0.5μm, or 1μm. When the set of candidate positions is empty, it is determined that the patient does not meet the surgical conditions.

[0209] Thus, by obtaining the second target point corresponding to each regional point, the point on the preset surface of the skull three-dimensional model closest to the regional point can be determined as the basis for judging the collision constraint condition. The preset surface refers to a surface located outside the skull and at a preset distance from the outer surface of the skull. For each second target point, adjust the position of the device three-dimensional model so that the second reference point on the upper surface of the medical device coincides with the second target point, and the upper surface of the medical device is parallel to the tangent plane of the preset surface at this point, and the reference line of the medical device is parallel to the midsagittal line. After the position of the upper surface of the device three-dimensional model is set, detect whether the lower surface of the device three-dimensional model collides with the inner surface of the skull of the skull three-dimensional model. If the lower surface of the device three-dimensional model does not collide with the inner surface of the skull, it indicates that the regional point corresponding to the second target point meets the collision constraint condition and can be used as an alternative position. If the lower surface of the device three-dimensional model collides with the inner surface of the skull, it indicates that the regional point corresponding to the second target point does not meet the collision constraint condition and needs to be excluded. In summary, by accurately setting the 3D model of the device and combining it with the collision judgment of the preset surface, the collision situation of the candidate positions can be accurately evaluated, providing a reliable basis for the formulation of the surgical plan. Through collision screening, the device shape, skull structure and preset surface conditions are comprehensively considered, which improves the accuracy and reliability of implant position screening, and can exclude implant positions that collide with the inside of the skull, ensuring the safety and stability of the operation.

[0210] See also Figure 7 , Figure 7 It is a schematic diagram of a fit screening process provided in an embodiment of the present application.

[0211] In some embodiments, the screening method further includes fit screening, and the fit screening process in step S103 includes:

[0212] Step S401: for each area point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the three-dimensional skull model at the area point;

[0213] Step S402: remove the regional points whose fit degree is less than a preset fit degree from the candidate position set.

[0214] In one embodiment, the area points whose fit degree is not less than a preset fit degree are retained in the candidate position set.

[0215] The embodiment of the present application does not limit the preset fit degree, and the preset fit degree can be expressed in percentage or percent, such as 70%, 75% or 80%.

[0216] In one embodiment, the degree of fit may be calculated in the following ways:

[0217] Method 1: Obtain the reference point corresponding to each regional point. The reference point is the point on the outer surface of the skull of the three-dimensional skull model that is closest to the regional point.

[0218] The difference between the curvature of the skull 3D model at the reference point and the curvature of the device 3D model at the second reference point on the upper surface is calculated, and the degree of fit corresponding to each regional point is calculated based on the difference. The smaller the difference, the greater the degree of fit.

[0219] In addition, the curvature can be converted into a color map for comparison. The closer the colors are, the greater the fit.

[0220] Method 2: Obtain the reference point corresponding to each regional point. The reference point is the point on the outer surface of the skull of the three-dimensional skull model that is closest to the regional point.

[0221] The similarity between the contour of the skull three-dimensional model at the reference point and the contour of the upper surface of the device three-dimensional model is calculated, and the similarity is used as the fit degree corresponding to each regional point.

[0222] Therefore, fit screening is an evaluation process for each regional point in the set of candidate positions, which is used to exclude positions that do not meet the fit requirements. Specifically, for each regional point, the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull of the three-dimensional model of the skull at that point is calculated. The fit can be calculated using various evaluation methods and indicators, such as contour similarity, minimum distance, curvature matching, etc. According to the preset fit requirements, find the regional points whose fit is less than the preset fit, and remove them from the set of candidate positions. The purpose of fit screening is to ensure the degree of match between the upper surface of the device and the outer surface of the skull at the candidate position, thereby reducing scalp tension after surgery and improving the aesthetic effect after suturing. Through fit screening, an alternative position with a higher fit with the outer surface of the skull can be selected to ensure the fit stability between the medical device and the skull, and improve the success rate of the operation and patient satisfaction.

[0223] In a specific application scenario, the embodiment of the present application further provides a surgical planning method, the method comprising:

[0224] Acquiring medical imaging data of the patient's skull and a three-dimensional model of the medical device;

[0225] Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient;

[0226] The implantation position of the medical device is screened according to the three-dimensional model of the device and the three-dimensional model of the skull, and a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process are obtained, wherein the screening method includes one or more of the following: thickness screening, collision screening and fit screening; the screening information corresponding to each candidate position during the screening process includes one or more of the following: the thickness of the skull of the three-dimensional skull model at the candidate position; the distance between the candidate position and a preset reference plane, wherein the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull and the center plane of the skull; the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull of the three-dimensional skull model at the candidate position;

[0227] Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position;

[0228] Obtaining a reference score of implantation scores corresponding to all candidate positions, wherein the reference score is the highest score or the average score;

[0229] When the reference score is greater than a preset score, determining that the patient meets the surgical condition;

[0230] When the reference score is not greater than the preset score, determining that the patient does not meet the surgical condition;

[0231] Generate prompt information and send it to the terminal device to prompt the doctor whether the patient meets the surgical conditions;

[0232] The thickness screening process includes:

[0233] Obtaining the skull thickness corresponding to each regional point in the three-dimensional skull model;

[0234] Adding all regional points in the three-dimensional skull model where the skull thickness is within a preset thickness range into the candidate position set;

[0235] The fit screening process includes:

[0236] For each area point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the three-dimensional skull model at the area point;

[0237] Eliminate the regional points whose fit degree is less than a preset fit degree from the candidate position set;

[0238] The collision screening process includes:

[0239] Detecting whether each area point in the candidate position set satisfies a collision constraint condition;

[0240] Eliminate the area points that do not satisfy the collision constraint condition from the candidate position set;

[0241] The collision constraints include:

[0242] After the medical device is implanted in the brain, any point on the upper surface of the medical device is no more than a preset distance above the outer surface of the skull, and the lower surface of the medical device does not contact the inner surface of the skull;

[0243] The method of detecting whether each area point in the candidate position set satisfies the collision constraint condition is as follows:

[0244] Method 1: obtaining a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0245] For each first target point, perform the following processing:

[0246] The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, the lower surface of the three-dimensional model of the device is parallel to a section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0247] If the three-dimensional model of the device does not collide with the preset surface of the three-dimensional model of the skull, determining that the regional point corresponding to the first target point satisfies the collision constraint condition, and the preset surface is a surface on the outside of the skull that is the preset distance away from the outer surface of the skull;

[0248] If the three-dimensional model of the device collides with the preset surface, determining that the regional point corresponding to the first target point does not satisfy the collision constraint condition;

[0249] Method 2: Obtaining a second target point corresponding to each regional point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the regional point, and the preset surface is a surface on the outside of the skull that is at a preset distance from the outer surface of the skull;

[0250] For each second target point, perform the following processing:

[0251] Setting the device three-dimensional model so that a second reference point of an upper surface of the device three-dimensional model coincides with the second target point, the upper surface of the device three-dimensional model is parallel to a tangent plane of the preset surface at the second target point, and the reference line of the device three-dimensional model is parallel to the midsagittal line;

[0252] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0253] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0254] In one embodiment, during the thickness screening process, when obtaining the skull thickness corresponding to each regional point, a spatial data structure (such as Octree or KD-Tree) can be used to accelerate the calculation of skull thickness, avoid traversing all points, and improve calculation efficiency. During the collision screening process, for each regional point in the set of candidate positions, a fast collision detection algorithm, such as bounding box collision detection or the nearest point distance calculation between geometric bodies, can be used to determine whether the collision constraint conditions are met. This can increase the speed of collision detection. When calculating the implantation score corresponding to each candidate position, more evaluation indicators and weights can be introduced to comprehensively consider the factors of surgical success. For example, the feasibility of surgical navigation, the assessment of surgical risks, the protection of adjacent tissue structures, etc. can be considered to comprehensively evaluate the pros and cons of the implantation position. When generating prompt information and sending it to the terminal device, a real-time communication method can be used to ensure that the doctor can receive prompt information about the patient's surgical conditions in a timely manner in order to make a decision. In addition, the prompt information can be presented in a visual manner, such as using a three-dimensional model or a visual chart to provide a more intuitive information display.

[0255] Surgical planning device embodiment

[0256] The embodiment of the present application also provides a surgical planning device, the specific embodiment of which is consistent with the embodiment recorded in the above method embodiment and the technical effects achieved, and some contents will not be repeated here.

[0257] The surgical planning device comprises a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the following steps when executing the computer program:

[0258] Acquiring medical imaging data of the patient's skull and a three-dimensional model of the medical device;

[0259] Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient;

[0260] Screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes one or more of the following: thickness screening, collision screening, and fit screening;

[0261] Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position, and determine whether the patient meets the surgical conditions according to the implantation score;

[0262] Generate a prompt message and send it to the terminal device to prompt the doctor whether the patient meets the surgical conditions.

[0263] In some embodiments, the screening information corresponding to each candidate position during the screening process includes one or more of the following:

[0264] The thickness of the skull of the three-dimensional skull model at the candidate position;

[0265] The distance between the candidate position and a preset reference plane, wherein the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the central surface of the skull;

[0266] The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the skull three-dimensional model at the alternative position.

[0267] In some embodiments, the at least one processor is configured to, when executing the computer program, determine whether the patient meets the surgical conditions according to the implantation score in the following manner:

[0268] Obtaining a reference score of implantation scores corresponding to all candidate positions, wherein the reference score is the highest score or the average score;

[0269] When the reference score is greater than a preset score, determining that the patient meets the surgical condition;

[0270] When the reference score is not greater than the preset score, it is determined that the patient does not meet the surgical condition.

[0271] In some embodiments, the screening method includes thickness screening, and the at least one processor is configured to perform thickness screening in the following manner when executing the computer program:

[0272] Obtaining the skull thickness corresponding to each regional point in the three-dimensional skull model;

[0273] All regional points in the three-dimensional skull model where the skull thickness is within a preset thickness range are included in the candidate position set.

[0274] In some embodiments, the screening method further includes collision screening, and the at least one processor is configured to perform collision screening in the following manner when executing the computer program:

[0275] Detecting whether each area point in the candidate position set satisfies a collision constraint condition;

[0276] Eliminate the area points that do not satisfy the collision constraint condition from the candidate position set;

[0277] The collision constraints include:

[0278] After the medical device is implanted in the brain, the distance that any point on the upper surface of the medical device is higher than the outer surface of the skull does not exceed a preset distance, and the lower surface of the medical device does not contact the inner surface of the skull.

[0279] In some embodiments, the at least one processor is configured to detect whether each area point in the candidate position set satisfies the collision constraint condition in the following manner when executing the computer program:

[0280] Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0281] For each first target point, perform the following processing:

[0282] The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, the lower surface of the three-dimensional model of the device is parallel to a section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0283] If the three-dimensional model of the device does not collide with the preset surface of the three-dimensional model of the skull, determining that the regional point corresponding to the first target point satisfies the collision constraint condition, and the preset surface is a surface on the outside of the skull that is the preset distance away from the outer surface of the skull;

[0284] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0285] In some embodiments, the at least one processor is configured to detect whether each area point in the candidate position set satisfies the collision constraint condition in the following manner when executing the computer program:

[0286] Acquire a second target point corresponding to each regional point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the regional point, and the preset surface is a surface on the outside of the skull that is at a preset distance from the outer surface of the skull;

[0287] For each second target point, perform the following processing:

[0288] Setting the device three-dimensional model so that a second reference point of an upper surface of the device three-dimensional model coincides with the second target point, the upper surface of the device three-dimensional model is parallel to a tangent plane of the preset surface at the second target point, and the reference line of the device three-dimensional model is parallel to the midsagittal line;

[0289] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0290] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0291] In some embodiments, the screening method further includes fit screening, and the at least one processor is configured to perform fit screening in the following manner when executing the computer program:

[0292] For each area point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the three-dimensional skull model at the area point;

[0293] The regional points whose fit degree is less than a preset fit degree are removed from the candidate position set.

[0294] See also Figure 8 , Figure 8 It is a structural block diagram of a surgical planning device provided in an embodiment of the present application.

[0295] The surgical planning device may include, for example, at least one memory 11 , at least one processor 12 , and a bus 13 connecting different platform systems.

[0296] The memory 11 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 111 and / or a cache memory 112 , and may further include a read-only memory (ROM) 113 .

[0297] The memory 11 also stores a computer program, which can be executed by the processor 12 so that the processor 12 implements the steps of any of the above methods.

[0298] The memory 11 may also include a utility 114 having at least one program module 115, such program module 115 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0299] Accordingly, the processor 12 may execute the above-mentioned computer program and may execute the utility 114 .

[0300] The processor 12 may adopt one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), or other electronic components.

[0301] The bus 13 may be a local bus representing one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or any of a variety of bus architectures.

[0302] The surgical planning device may also communicate with one or more external devices such as a keyboard, a pointing device, a Bluetooth device, etc., and may also communicate with one or more devices that can interact with the surgical planning device, and / or communicate with any device (such as a router, a modem, etc.) that enables the surgical planning device to communicate with one or more other computing devices. Such communication may be performed through the input and output interface 14. In addition, the surgical planning device may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 15. The network adapter 15 may communicate with other modules of the surgical planning device through the bus 13. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the surgical planning device in actual applications, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0303] Computer Readable Storage Medium Embodiments

[0304] The embodiment of the present application also provides a computer-readable storage medium, the specific embodiment of which is consistent with the embodiment recorded in the above method embodiment and the technical effects achieved, and some contents will not be repeated here.

[0305] 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 surgical planning devices are implemented.

[0306] Computer readable medium can be a computer readable signal medium or a computer readable storage medium. In an embodiment of the present application, a computer readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. Computer readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer readable storage medium 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 of the above.

[0307] The computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable storage medium may also be any computer-readable medium that can send, propagate, or transmit a program for use by an instruction execution system, an apparatus, or a device or for use in combination with it. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above. The program code for performing the operation of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and also conventional procedural programming languages ​​such as C language or similar programming languages. The program code may be executed entirely on a user computing device, partially on a user device, as an independent software package, partially on a user computing device, partially on a remote computing device, or entirely on a remote computing device or server. Where a remote computing device is involved, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0308] Computer program product embodiments

[0309] The embodiment of the present application also provides a computer program product, the specific embodiments of which are consistent with the embodiments recorded in the above method embodiments and the technical effects achieved, and some contents will not be repeated here.

[0310] The present application provides a computer program product, which includes a computer program. 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 surgical planning devices are implemented.

[0311] See also Fig. 9 , Fig. 9 It is a structural diagram of a computer program product provided in an embodiment of the present application.

[0312] 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 surgical planning devices. The computer program product may be a portable compact disk read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the computer program product of the present invention is not limited thereto, and the computer program product may be any combination of one or more computer-readable media.

[0313] This application is explained from the perspectives of purpose of use, effectiveness, progress and novelty, and has met the functional enhancement and usage requirements emphasized by the Patent Law. The above description and drawings of this application are only the preferred embodiments of this application, and are not intended to limit this application. Therefore, all structures, devices, features, etc. that are similar or identical to this application, that is, all equivalent replacements or modifications made in accordance with the scope of the patent application of this application, should fall within the scope of protection of the patent application of this application.

Claims

1. A surgical planning device, characterized in that: The surgical planning device comprises a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the following steps when executing the computer program: Acquiring medical imaging data of the patient's skull and a three-dimensional model of the medical device; Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient; Screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes one or more of the following: thickness screening, collision screening, and fit screening; Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position, and determine whether the patient meets the surgical conditions according to the implantation score; Generate a prompt message and send it to the terminal device to prompt the doctor whether the patient meets the surgical conditions.

2. The surgical planning device according to claim 1, characterized in that: The screening information corresponding to each candidate position during the screening process includes one or more of the following: The thickness of the skull of the three-dimensional skull model at the candidate position; The distance between the candidate position and a preset reference plane, wherein the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the central surface of the skull; The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the skull three-dimensional model at the alternative position.

3. The surgical planning device according to claim 1, characterized in that: The at least one processor is configured to, when executing the computer program, determine whether the patient meets the surgical conditions according to the implantation score in the following manner: Obtaining a reference score of implantation scores corresponding to all candidate positions, wherein the reference score is the highest score or the average score; When the reference score is greater than a preset score, determining that the patient meets the surgical condition; When the reference score is not greater than the preset score, it is determined that the patient does not meet the surgical condition.

4. The surgical planning device according to claim 1, characterized in that: The screening method includes thickness screening, and the at least one processor is configured to perform thickness screening in the following manner when executing the computer program: Obtaining the skull thickness corresponding to each regional point in the three-dimensional skull model; All regional points in the three-dimensional skull model where the skull thickness is within a preset thickness range are included in the candidate position set.

5. The surgical planning device according to claim 4, characterized in that: The screening method further includes collision screening, and the at least one processor is configured to perform collision screening in the following manner when executing the computer program: Detecting whether each area point in the candidate position set satisfies a collision constraint condition; Eliminate the area points that do not satisfy the collision constraint condition from the candidate position set; The collision constraints include: After the medical device is implanted in the brain, the distance that any point on the upper surface of the medical device is higher than the outer surface of the skull does not exceed a preset distance, and the lower surface of the medical device does not contact the inner surface of the skull.

6. The surgical planning device according to claim 5, characterized in that: The at least one processor is configured to detect whether each area point in the candidate position set satisfies the collision constraint condition in the following manner when executing the computer program: Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point; For each first target point, perform the following processing: The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, the lower surface of the three-dimensional model of the device is parallel to a section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line; If the three-dimensional model of the device does not collide with the preset surface of the three-dimensional model of the skull, determining that the regional point corresponding to the first target point satisfies the collision constraint condition, and the preset surface is a surface on the outside of the skull that is the preset distance away from the outer surface of the skull; If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

7. The surgical planning device according to claim 5, characterized in that: The at least one processor is configured to detect whether each area point in the candidate position set satisfies the collision constraint condition in the following manner when executing the computer program: Acquire a second target point corresponding to each regional point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the regional point, and the preset surface is a surface on the outside of the skull that is at a preset distance from the outer surface of the skull; For each second target point, perform the following processing: Setting the device three-dimensional model so that a second reference point of an upper surface of the device three-dimensional model coincides with the second target point, the upper surface of the device three-dimensional model is parallel to a tangent plane of the preset surface at the second target point, and the reference line of the device three-dimensional model is parallel to the midsagittal line; If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition; If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

8. The surgical planning device according to any one of claims 4 to 7, characterized in that: The screening method further includes fit screening, and the at least one processor is configured to perform fit screening in the following manner when executing the computer program: For each area point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the three-dimensional skull model at the area point; The regional points whose fit degree is less than a preset fit degree are removed from the candidate position set.

9. A surgical planning method, characterized in that: The method comprises: Acquiring medical imaging data of the patient's skull and a three-dimensional model of the medical device; Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient; Screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes one or more of the following: thickness screening, collision screening, and fit screening; Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position, and determine whether the patient meets the surgical conditions according to the implantation score; Generate a prompt message and send it to the terminal device to prompt the doctor whether the patient meets the surgical conditions.

10. The surgical planning method according to claim 9, characterized in that: The screening information corresponding to each candidate position during the screening process includes one or more of the following: The thickness of the skull of the three-dimensional skull model at the candidate position; The distance between the candidate position and a preset reference plane, wherein the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the central surface of the skull; The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull of the skull three-dimensional model at the alternative position.

11. A medical system, characterized in that: The medical system includes: A medical device for implantation into a patient's skull; The surgical planning device according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the computer program implements the functions of the surgical planning device according to any one of claims 1 to 8 or implements the steps of the method according to any one of claims 9 to 10.

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