Surgical planning device and method, medical system and storage medium

Abstract

The present application provides a surgical planning method, device, medical system, and computer-readable storage medium. The method includes: obtaining medical imaging data of a patient's skull and a three-dimensional model of a medical device; performing three-dimensional skull reconstruction based on the medical imaging data to obtain a three-dimensional skull model of the patient; screening the implantation position of the medical device based on the three-dimensional device model and the three-dimensional skull model to obtain a set of candidate positions and screening information corresponding to each candidate position during the screening process; calculating the implantation score corresponding to each candidate position based on the screening information of each candidate position, and determining whether the patient meets the surgical conditions based on the implantation score; generating a prompt message and sending it to a terminal device to prompt the doctor whether the patient meets the surgical conditions. The present application can accurately assess whether a patient is suitable for medical device implantation surgery.

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] Some surgical treatments for certain diseases involve implanting medical devices in the head. To mitigate the risks associated with this procedure, while also considering the scalp tension caused by larger implants and the aesthetically pleasing effect after suturing, preoperative patient screening is necessary to determine their suitability for surgery. Because medical devices have specific sizes and shapes, and because skulls vary significantly from person to person, determining patient suitability for surgery is a key issue in these surgeries.

[0003] Based on this, the present application provides surgical planning equipment and methods, medical systems and computer-readable storage media to improve related technologies. Summary of the Invention

[0004] The purpose of this application is to provide surgical planning equipment and methods, medical systems and computer-readable storage media 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 based on the medical imaging data to obtain a three-dimensional skull model of the patient;

[0009] Screening the implantation position of the medical device based on 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] Calculating an implantation score corresponding to each candidate position based on the screening information of each candidate position, and determining whether the patient meets the surgical conditions based on 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] This technical solution offers the advantage of accurately assessing a patient's suitability for medical device implantation. Specifically, by acquiring medical imaging data of the patient's skull and a 3D model of the device, a 3D skull reconstruction is performed. Based on this 3D skull model, the medical device implant location is screened, taking into account individual skull variations and the size and shape of the medical device. This screening process includes various methods, including thickness screening, collision screening, and fit screening. This not only ensures surgical safety and implant effectiveness, but also considers postoperative scalp tension and post-suturing aesthetics, thereby reducing surgical risk. An implantation score is calculated based on the screening information for each candidate location, and the patient's suitability for surgery is determined based on this score, improving the scientific and accurate nature of surgical decision-making. A prompt message is generated and sent to the terminal device for the physician's reference, assisting in the decision-making process regarding whether to proceed with the surgery. In summary, a surgical plan can be tailored to the patient's specific circumstances, improving the success rate and efficacy of the procedure.

[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 selected 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 plane 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 effects of this technical solution are that it provides a variety of screening information, including skull thickness, the distance between the alternative location 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 surgical risks, adaptability of the implant location, and aesthetic effects, and can comprehensively evaluate the feasibility of the surgical plan. Skull thickness is an important indicator for evaluating alternative locations. It can help determine the size and adaptability of the implant device and avoid surgical risks and adverse consequences caused by insufficient or excessive thickness. The distance between the alternative location and the reference plane provides additional spatial information, which helps to determine the depth of the implant location 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 assesses the degree of matching after implantation and can take into account post-operative scalp tension and post-suturing aesthetic effects. By comprehensively utilizing this screening information, the implant score of each alternative location 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, determining whether the patient meets 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 conditions;

[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 it introduces the concept of reference scoring, which can compare and judge the implant scores of all alternative locations, providing an objective basis for determining surgical conditions. Specifically, the reference score can select the highest score or the average score as the standard, and the specific choice 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 implant plan in the alternative location 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 implant plan that meets the requirements in the alternative location and needs to be re-evaluated or other treatment methods should be 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 doctors with a basis for decision-making, save time and resources, and improve the efficiency of surgical plan selection. In summary, by setting quantitative scoring 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 standards, 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 meets the collision constraint condition;

[0029] Eliminate the area points that do not meet 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 between any point on the upper surface of the medical device and 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 alternative positions, which is used to exclude positions that do not meet the collision constraint conditions. During the collision screening process, by judging the collision situation of each regional point in the set of alternative positions with 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 alternative positions and the corresponding surface of the skull. The collision constraint conditions mainly include two aspects: one is that the distance between any point on the upper surface of the medical device and 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, surgical risks can be reduced, and the safe implantation and stability of the medical device can be ensured.

[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 region 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 region point;

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

[0036] Setting the three-dimensional model of the device so that a first reference point of a 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 a 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 a 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, wherein the preset surface is a surface on the outside of the skull that is the preset distance 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 area point, the point on the inner surface of the skull closest to the area 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 that 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 on the outside of 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 area 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 area point corresponding to the first target point does not meet the collision constraint condition and the position needs to be excluded. In summary, by precisely setting up a 3D device model and combining it with collision assessment based on pre-set surfaces, we can accurately assess collision potential at candidate locations, providing a reliable basis for surgical planning. Collision screening, which comprehensively considers device shape, skull structure, and pre-set surface conditions, improves the accuracy and reliability of implant location screening. It can eliminate implant locations that could collide with the skull, ensuring surgical safety and stability.

[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 region point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the region point, where 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 three-dimensional model of the device so that a second reference point on an upper surface of the three-dimensional model of the device coincides with the second target point, the upper surface of the three-dimensional model of the device is parallel to a tangent plane of the predetermined surface at the second target point, and a reference line of the three-dimensional model of the device 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 this 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 the surface located on the outside of 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 there is no collision between the lower surface of the device three-dimensional model and 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 precisely setting up a 3D device model and combining it with collision assessment based on pre-set surfaces, we can accurately assess collision potential at candidate locations, providing a reliable basis for surgical planning. Collision screening, which comprehensively considers device shape, skull structure, and pre-set surface conditions, improves the accuracy and reliability of implant location screening. It can eliminate implant locations that could collide with the skull, ensuring surgical safety and stability.

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

[0048] For each region 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 region point;

[0049] The regional points whose fit degree is less than the 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 alternative 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 eliminate them from the set of alternative 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, alternative positions with 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, comprising 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:

[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 based on the medical imaging data to obtain a three-dimensional skull model of the patient;

[0054] Screening the implantation position of the medical device based on 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] Calculating an implantation score corresponding to each candidate position based on the screening information of each candidate position, and determining whether the patient meets the surgical conditions based on 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 selected 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 plane 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, when executing the computer program, determine whether the patient meets the surgical conditions based on the implantation score in the following manner:

[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 conditions;

[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 meets the collision constraint condition;

[0070] Eliminate the area points that do not meet 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 between any point on the upper surface of the medical device and 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 a collision constraint condition in the following manner when executing the computer program:

[0074] Acquire a first target point corresponding to each region 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 region point;

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

[0076] Setting the three-dimensional model of the device so that a first reference point of a 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 a 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 a 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, wherein the preset surface is a surface on the outside of the skull that is the preset distance 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 a collision constraint condition in the following manner when executing the computer program:

[0080] Acquire a second target point corresponding to each region point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the region point, where 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 three-dimensional model of the device so that a second reference point on an upper surface of the three-dimensional model of the device coincides with the second target point, the upper surface of the three-dimensional model of the device is parallel to a tangent plane of the predetermined surface at the second target point, and a reference line of the three-dimensional model of the device 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 region 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 region point;

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

[0088] In a third aspect, the present application provides a medical system, comprising 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 with reference to the accompanying drawings and implementation methods.

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

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

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

[0095] Figure 4 This is a flowchart of a collision screening process provided in an embodiment of the present application.

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

[0098] Figure 7 This is a flow chart of a fit screening process provided in an embodiment of the present application.

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

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

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

[0102] In the embodiments of the present application, "at least one" refers to one or more, and "more" 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: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the objects associated 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 examples of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any implementation or design described as "exemplary" or "for example" in the examples of this application should not be interpreted as being preferred or advantageous over other implementations or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0104] Below, we first briefly describe one of the application fields of the present application (i.e., implantable neurostimulator).

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

[0106] An implantable neurostimulation system includes a stimulator (i.e., an implantable neurostimulator, a type of neurostimulation device) implanted in the patient's body and a programmable device located outside the patient's body. In other words, the stimulator is an implant, or in other words, the implant includes the stimulator. Related neuromodulation technologies primarily involve implanting electrodes (e.g., in the form of electrode wires) at specific locations (i.e., target sites) within a living organism's tissues through stereotactic surgery. These electrodes then send electrical pulses to the target sites, regulating the electrical activity and function of the corresponding neural structures and networks, thereby improving symptoms and alleviating pain. The stimulator may include an implantable pulse generator (IPG), extension wires, and electrode wires. The IPG (implantable pulse generator) is located within the patient's body and, in response to programmable instructions sent by the programmable device, relies on sealed batteries and circuits to provide controllable electrical stimulation energy to the tissues within the body. The IPG delivers one or more controllable, specific electrical stimulations to specific areas of the tissue within the body via the extension wires and electrode wires. The extension wires, used in conjunction with the IPG, serve as a transmission medium for the electrical stimulation signals, transmitting the electrical stimulation signals generated by the IPG to the electrode wires. The electrode wire delivers electrical stimulation to a specific area of ​​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 in 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) in the circumference of the electrode wire. The electrode contacts may include stimulation electrode contacts and / or collection electrode contacts. The electrode contacts may, for example, be in the shape of a sheet, a ring, a point, or the like.

[0107] In other embodiments, the stimulator includes only a pulse generator and electrode leads, wherein the pulse generator is embedded in the patient's skull and the electrode leads are implanted in the patient's skull. In this case, the pulse generator and the electrode leads are directly connected without the need for extension leads.

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

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

[0110] In some embodiments, the stimulated body tissue can be the patient's brain tissue, and the stimulated site can be a specific site of the brain tissue. When the patient's disease type is different, the stimulated site is generally different, and the number of stimulation contacts (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 can be deep brain stimulation (DBS), spinal cord stimulation (SCS), pelvic stimulation, gastric stimulation, peripheral nerve stimulation, and functional electrical stimulation. The disease type. 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, hypomuch like, 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 an embodiment of the present application, when a programmable connection is established between the programmable device and the stimulator, the programmable device can be used to adjust the stimulation parameters of the stimulator (or the stimulation parameters of the pulse generator, different stimulation parameters correspond to different electrical stimulation signals), or the stimulator can be used to sense the patient's electrophysiological activities to collect electrophysiological signals, and the collected electrophysiological signals can be used to further 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 per unit time 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, it can be 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 them. 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). A doctor's programmer can be, for example, a tablet computer, laptop computer, desktop computer, mobile phone, or other intelligent terminal device equipped with programmable software. A patient programmer can be, for example, a tablet computer, laptop computer, desktop computer, mobile phone, or other intelligent terminal device equipped with programmable software. A patient programmer can also be other electronic devices with programmable functions (e.g., a charger or data acquisition device with programmable functions).

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

[0115] The patient programmer may include a host computer that communicates with the server and a slave computer that communicates with the stimulator, and the host computer and the slave computer are communicably connected. The doctor programmer may exchange data with the server via a 3G / 4G / 5G network, the server may exchange data with the host computer via a 3G / 4G / 5G network, the host may exchange data with the slave computer via a Bluetooth protocol / WIFI protocol / USB protocol, the slave computer may exchange data with the stimulator via a 401MHz-406MHz operating frequency band / 2.4GHz-2.48GHz operating frequency band, and the doctor programmer may directly exchange data with the stimulator via a 401MHz-406MHz operating frequency band / 2.4GHz-2.48GHz operating frequency band.

[0116] Some surgical treatments for certain diseases involve implanting medical devices in the head. To mitigate the risks associated with this procedure, while also considering the scalp tension caused by larger implants and the aesthetically pleasing effect after suturing, preoperative patient screening is necessary to determine their suitability for surgery. Because medical devices have specific sizes and shapes, and because skulls vary significantly from person to person, determining patient suitability for surgery is a key issue in these surgeries.

[0117] An example of a medical device is a stimulator implanted in the skull. Taking into account factors such as the curvature of the skull at the implantation location and the extent of bone resection, the stimulator is designed with a certain curvature to achieve the best fit after implantation. Currently, the parietal and occipital bones are commonly used for stimulator implantation. Typically, the neurosurgeon compares the patient's skull shape with the stimulator's shape during surgery, selects a rough range, and performs a craniectomy, resecting the skull while fitting the stimulator's shape. This approach can prolong the operation. More importantly, due to individual differences, this fit is often not achieved in actual clinical applications, resulting in one portion of the stimulator fitting well with the skull, while another portion is tilted upward and protruding from the skull surface. Ultimately, the doctor can only compromise by selecting an implant location, curvature, and angle for fixation. This situation is often prone to clinical complications, such as abnormal appearance of the patient's head after skin suture, affecting aesthetics; excessive tension on the sutured skin, leading to poor local skin blood flow and affecting wound healing; and even exposure of 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 Example

[0120] See also Figure 1 , Figure 1 This 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 based on the medical imaging data to obtain a three-dimensional skull model of the patient;

[0124] Step S103: Screening the implantation position of the medical device based on 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;

[0125] Step S104: calculating the implantation score corresponding to each candidate position according to the screening information of each candidate position, and determining 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 embodiments of the present application do 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, or a rounded rectangle. Alternatively, the shape of the medical device can be 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 through a head CT scan. 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] Use 3D software to build a 3D model of the medical device, 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 skull 3D reconstruction method may include:

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

[0135] The embodiments of the present application are not limited to terminal devices. For example, the terminal device may be a smart terminal device with a display and a speaker, such as a mobile phone, a tablet computer, a laptop computer, a desktop computer, or a smart wearable device. Alternatively, the terminal device may be a workstation or a console with a display and a speaker. The display may be a touch screen or a non-touch 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, consider a patient who needs a stimulator implant. Here's how the surgical planning process works:

[0138] Doctors use medical imaging technologies such as CT scans or magnetic resonance imaging (MRI) to obtain imaging data of the patient's skull. Medical device manufacturers also provide 3D models of the corresponding medical devices, describing the device's shape, dimensions, and features. Based on the patient's medical imaging data, software is used to perform a 3D skull reconstruction, generating a 3D model of the patient's skull. This model accurately represents the shape and structure of the patient's skull. The 3D device and patient skull models are combined to screen implant locations. This screening process includes thickness screening, collision screening, and fit screening. For example, a thickness range can be pre-set to select only locations with a skull thickness that meets the required requirements. Furthermore, collision detection can be performed between the upper and lower surfaces of the device and the inner and outer skull surfaces to eliminate potential collisions. Furthermore, the fit between the upper surface of the device and the outer skull surface can be calculated to eliminate locations with fit below a preset value. During this process, each candidate location is provided with corresponding screening information, such as skull thickness, collision distance, and fit. Based on the screening information for each candidate location, a comprehensive assessment of various factors is used to calculate an implant score for each candidate location. For example, a comprehensive implant score can be calculated by assigning appropriate weights based on indicators such as thickness, collision conditions, and fit. A preset scoring threshold is set, and the implant score for each candidate location is compared with the preset score to determine whether the patient meets the surgical conditions. Based on the implant score judgment, a corresponding prompt message is generated, such as "The patient meets the surgical conditions" or "The patient does not meet the surgical conditions." These prompt messages are automatically sent to terminal devices, such as computers or mobile phones, to remind doctors to make appropriate decisions.

[0139] This allows for an accurate assessment of a patient's suitability for medical device implantation. Specifically, by acquiring medical imaging data of the patient's skull and a 3D model of the device, a 3D skull reconstruction is performed. Based on this 3D skull model, the implant location for the medical device is screened, taking into account individual skull variations and the size and shape of the medical device. This screening process includes various methods, such as thickness screening, collision screening, and fit screening. This not only ensures surgical safety and implant effectiveness, but also considers postoperative scalp tension and post-suturing aesthetics, mitigating surgical risks. An implantation score is calculated based on the screening information for each candidate location, and the patient's suitability for surgery is determined based on this score, improving the scientific and accurate nature of surgical decision-making. A prompt message is generated and sent to the terminal device for the physician's reference, assisting in the decision-making process regarding whether to proceed with the surgery. In summary, surgical plans can be tailored to the patient's specific circumstances, improving the success rate and efficacy of the procedure.

[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 selected 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 plane 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 based on 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 according to the thickness score, the distance score, the fit score, 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; the closer the distance between the candidate position and the reference plane is to the preset distance range, the higher the distance score; and the higher the fit, the higher the fit score. 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).

[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] This provides a variety of screening information, including skull thickness, the distance between the candidate location and the reference plane, and the fit of the device's upper surface with the skull's outer surface. This information comprehensively considers surgical risk, adaptability of the implant location, and aesthetic effect, enabling a comprehensive assessment of the feasibility of the surgical plan. Skull thickness is an important indicator for evaluating candidate locations, helping to determine the size and adaptability of the implant device and avoid surgical risks and adverse consequences caused by insufficient or excessive thickness. The distance between the candidate location and the reference plane provides additional spatial information, helping to determine the depth of the implant location and ensure the safe implantation and stability of the device. The fit of the device's upper surface with the skull's outer surface assesses the degree of post-implantation matching and can take into account post-operative scalp tension and post-suturing aesthetics. By combining this screening information, a quantitative assessment of the implant score for each candidate location can be made, providing physicians with a scientific basis and reference, and improving the accuracy and reliability of surgical decisions.

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

[0156] In some embodiments, in step S104, determining 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 conditions.

[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 are 60 points, 70 points, 86 points, and 91 points, respectively. Among them, the highest score is 91 points, which is greater than the preset score. Patient Xiao Li meets 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 introduction of the concept of a reference score allows for comparison and judgment of implant scores across all candidate locations, providing an objective basis for determining surgical conditions. Specifically, the reference score can be selected based on either the highest score or the average score, with the specific choice determined based on actual needs and medical standards, offering greater flexibility. When the reference score is greater than the preset score, the patient is determined to meet surgical requirements, indicating that a suitable implant option exists in the candidate location and surgery can be performed. When the reference score is less than the preset score, the patient is determined to not meet surgical requirements, indicating that no implant option in the candidate location meets the requirements and requires reassessment or consideration of alternative treatments. By comparing the reference score with the preset score, a patient's suitability for surgery can be quickly and accurately determined, providing a basis for decision-making for physicians, saving time and resources, and improving the efficiency of surgical plan selection. In summary, by setting quantitative scores and judgment criteria, the judgment of surgical conditions becomes more scientific and reliable, reducing subjective interventions and improving the repeatability and consistency of surgical decisions.

[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 of the preset thickness range and not greater than a maximum value of the preset thickness range.

[0170] The present 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 based on the thickness of the medical device itself and the surgical standard.

[0171] See also Figure 3 , Figure 3 This 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 in 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, providing a basis for thickness screening. The preset thickness range can be set according to the size of the medical device itself and the surgical standards, 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 This is a flowchart of a collision screening process provided in an embodiment of the present application.

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

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

[0177] Step S302: removing the area points that do not meet 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 between any point on the upper surface of the medical device and 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 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 region points that meet the collision constraint condition are retained in the candidate position set.

[0182] Therefore, collision screening is a detection process for each regional point in the set of alternative positions, which is used to exclude positions that do not meet the collision constraint conditions. During the collision screening process, by judging the collision situation of each regional point in the set of alternative positions with 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 alternative positions and the corresponding surface of the skull. The collision constraint conditions mainly include two aspects: one is that the distance between any point on the upper surface of the medical device and 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, surgical risks can be reduced, and the safe implantation and stability of the medical device can be ensured.

[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 region 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 region point;

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

[0186] Setting the three-dimensional model of the device so that a first reference point of a 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 a 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 a 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, wherein the preset surface is a surface on the outside of the skull that is the preset distance 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 running from the midpoint between the eyebrows to the external occipital protuberance, and is the projection of the superior sagittal sinus. The first reference point can be any point on the midline of the lower surface of the device's 3D model.

[0190] In an 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 This 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 region point in the set of candidate positions, find the point closest to the region point on the inner surface of the three-dimensional skull model, which is 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 of 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 midsagittal 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 region point corresponding to the first target point satisfies the collision constraint condition. If the device 3D model collides with the preset surface, it is determined that the region point corresponding to the first target point does not satisfy 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). The points in the area where the collision occurs are removed from the set of alternative 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 alternative 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 region point, the point on the inner surface of the skull closest to that region point can be determined, serving as the basis for determining collision constraints. For each first target point, the position of the 3D device model is adjusted so that the first reference point on the lower surface of the medical device coincides with the first target point, the lower surface of the medical device is parallel to the cross-section of the inner surface of the skull at that point, and the reference line of the medical device is parallel to the midsagittal line. After the position of the lower surface of the 3D device model is set, the upper surface of the 3D device model is tested for collision with a preset surface of the 3D skull model. The preset surface is a surface located on the outside of the skull at a preset distance from the outer surface of the skull. If the upper surface of the 3D device model does not collide with the preset surface, the region point corresponding to the first target point meets the collision constraints and can be selected as an alternative location. If the upper surface of the 3D device model collides with the preset surface, the region point corresponding to the first target point does not meet the collision constraints and needs to be eliminated. In summary, by accurately setting the 3D device model and combining collision determination with the preset surface, the collision situation of alternative locations can be accurately assessed, providing a reliable basis for formulating surgical plans. 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 region point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the region point, where 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 three-dimensional model of the device so that a second reference point on an upper surface of the three-dimensional model of the device coincides with the second target point, the upper surface of the three-dimensional model of the device is parallel to a tangent plane of the predetermined surface at the second target point, and a reference line of the three-dimensional model of the device 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 This is a schematic diagram of another principle for detecting whether a point in a region 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 region point in the candidate location set, the closest point to that region point is found on a preset surface of the three-dimensional skull model, i.e., a second target point. The preset surface is an imaginary surface located on the outside of the skull at a preset distance from the outer surface of the skull. For each second target point, the following processing steps are performed: the three-dimensional model of the medical device is positioned so that a second reference point on the upper surface of the medical device coincides with the second target point. Simultaneously, the upper surface of the medical device is parallel to the tangent plane of the preset surface at the second target point, and the central axis of the medical device is parallel to the midsagittal line. The three-dimensional model of the device is tested for collision with the inner surface of the skull.

[0207] If the device 3D model does not collide with the inner surface of the skull, the region corresponding to the second target point is determined to satisfy the collision constraint condition. If the device 3D model collides with the inner surface of the skull, the region corresponding to the second target point is determined not to satisfy 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 coarse 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 above the outer surface of the skull, and the points in the area where the collision occurs are removed from the set of alternative 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 alternative 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 on the outside of 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 there is no collision between the lower surface of the device three-dimensional model and 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 there is a collision between the lower surface of the device three-dimensional model and 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 precisely setting up a 3D device model and combining it with collision assessment based on pre-set surfaces, we can accurately assess collision potential at candidate locations, providing a reliable basis for surgical planning. Collision screening, which comprehensively considers device shape, skull structure, and pre-set surface conditions, improves the accuracy and reliability of implant location screening. It can eliminate implant locations that could collide with the skull, ensuring surgical safety and stability.

[0210] See also Figure 7 , Figure 7 This is a flow chart of a fit screening process provided in an embodiment of the present application.

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

[0212] Step S401: for each region 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 region point;

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

[0214] In one embodiment, the region points whose fit is not less than the preset fit 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 a percentage system or a percentage, 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 3D model that is closest to the regional point.

[0218] Calculate the difference between the curvature of the skull 3D model at this reference point and the curvature of the device 3D model at a second reference point on the upper surface. Based on this difference, calculate the degree of fit corresponding to each regional point. 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 color, 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 3D 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 fitting degree corresponding to each regional point.

[0222] Therefore, fit screening is an evaluation process for each regional point in the set of alternative 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 eliminate them from the set of alternative 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, alternative positions with 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, an 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 based on 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 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; 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, the reference plane including 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 based on 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 conditions;

[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] Listing 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 region 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 region point;

[0237] Eliminate 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 meets the collision constraint condition;

[0240] Eliminate the area points that do not meet 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 meets the collision constraint condition is as follows:

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

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

[0246] Setting the three-dimensional model of the device so that a first reference point of a 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 a 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 a 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, wherein the preset surface is a surface on the outside of the skull that is the preset distance from the outer surface of the skull;

[0248] If the three-dimensional model of the device collides with the preset surface, determining that the area 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 region point, where the second target point is the point on the three-dimensional skull model on a preset surface that is closest to the region point, where the preset surface is a surface on the outside of the skull that is a preset distance away from the outer surface of the skull;

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

[0251] Setting the three-dimensional model of the device so that a second reference point on an upper surface of the three-dimensional model of the device coincides with the second target point, the upper surface of the three-dimensional model of the device is parallel to a tangent plane of the predetermined surface at the second target point, and a reference line of the three-dimensional model of the device 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 an Octree or KD-Tree) can be used to accelerate the calculation of skull thickness, avoid traversing all points, and improve computational efficiency. During the collision screening process, for each regional point in the set of candidate locations, a fast collision detection algorithm, such as bounding box collision detection or closest point distance calculation between geometric bodies, can be used to determine whether the collision constraints are met. This can improve the speed of collision detection. When calculating the implant score corresponding to each candidate location, more evaluation indicators and weights can be introduced to comprehensively consider factors affecting surgical success. For example, the feasibility of surgical navigation, the assessment of surgical risks, and the protection of adjacent tissue structures can be considered to comprehensively evaluate the advantages and disadvantages of the implant location. When generating and sending prompt information to the terminal device, real-time communication can be used to ensure that the doctor receives prompt information about the patient's surgical conditions in a timely manner to facilitate decision-making. In addition, the prompt information can be presented in a visual manner, such as using a three-dimensional model or 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 embodiments of which are consistent with the embodiments described in the above method embodiments and the technical effects achieved, and some contents will not be repeated here.

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

[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 based on the medical imaging data to obtain a three-dimensional skull model of the patient;

[0260] Screening the implantation position of the medical device based on 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] Calculating an implantation score corresponding to each candidate position based on the screening information of each candidate position, and determining whether the patient meets the surgical conditions based on 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 selected 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 plane 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, when executing the computer program, 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:

[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 conditions;

[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 meets the collision constraint condition;

[0276] Eliminate the area points that do not meet 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 between any point on the upper surface of the medical device and 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 a collision constraint condition in the following manner when executing the computer program:

[0280] Acquire a first target point corresponding to each region 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 region point;

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

[0282] Setting the three-dimensional model of the device so that a first reference point of a 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 a 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 a 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, wherein the preset surface is a surface on the outside of the skull that is the preset distance 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 a collision constraint condition in the following manner when executing the computer program:

[0286] Acquire a second target point corresponding to each region point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the region point, where 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 three-dimensional model of the device so that a second reference point on an upper surface of the three-dimensional model of the device coincides with the second target point, the upper surface of the three-dimensional model of the device is parallel to a tangent plane of the predetermined surface at the second target point, and a reference line of the three-dimensional model of the device 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 region 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 region point;

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

[0294] See also Figure 8 , Figure 8 This 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 an implementation of a network environment.

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

[0300] The processor 12 may be implemented as 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 represent 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 a local bus using any of a variety of bus architectures.

[0302] The surgical planning device can also communicate with one or more external devices, such as a keyboard, pointing device, Bluetooth device, etc., one or more devices capable of interacting with the surgical planning device, and / or any device that enables the surgical planning device to communicate with one or more other computing devices (e.g., a router, modem, etc.). Such communication can occur via input / output interface 14. Furthermore, the surgical planning device can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via network adapter 15. Network adapter 15 can communicate with other modules of the surgical planning device via bus 13. It should be understood that, although not shown in the figures, 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 described 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 computer program implements the steps of any of the above methods or implements the functions of any of the above surgical planning devices.

[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 thereof. 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 thereof.

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

[0308] Computer Program Product Embodiments

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

[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, it implements the steps of any of the above methods or the functions of any of the above surgical planning devices.

[0311] See also Figure 9 , Figure 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 aforementioned methods or the functions of any of the aforementioned surgical planning devices. The computer program product may be implemented in a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the computer program product of the present invention is not limited thereto and may be implemented in 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 complied with the functional enhancement and use requirements emphasized by the Patent Law. The above description and drawings of this application are only preferred embodiments of this application and are not intended to limit this application. Therefore, all structures, devices, features, etc. that are similar or identical to those of this application, that is, all equivalent replacements or modifications made in accordance with the scope of the patent application of this application, should fall within the scope of protection of the patent application of this application.

Claims

1. A surgical planning device, characterized in that: The surgical planning device includes a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the following steps when executing the computer program: Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device; Performing three-dimensional skull reconstruction based on the medical imaging data to obtain a three-dimensional skull model of the patient; Screening the implantation position of the medical device based on 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; Calculating an implantation score corresponding to each candidate position based on the screening information of each candidate position, and determining whether the patient meets the surgical conditions based on the implantation score; Generate prompt information and send it to the terminal device to prompt the doctor whether the patient meets the surgical conditions; 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 meets the collision constraint condition; Eliminate the area points that do not meet the collision constraint condition from the candidate position set; The collision constraints include: 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; The at least one processor is configured to detect whether each area point in the candidate position set satisfies a collision constraint condition in the following manner when executing the computer program: Acquire a first target point corresponding to each region point, where the first target point is the point on the inner surface of the skull of the three-dimensional skull model that is closest to the region point; For each first target point, perform the following processing: Setting the three-dimensional model of the device so that a first reference point of a 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 a 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 a 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, wherein the preset surface is a surface on the outside of the skull that is the preset distance 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.

2. The surgical planning device according to claim 1, wherein: 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 selected 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 plane 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, wherein: 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 conditions; 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, wherein: 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 1, wherein: The at least one processor is configured to detect whether each area point in the candidate position set satisfies a collision constraint condition in the following manner when executing the computer program: Acquire a second target point corresponding to each region point, where the second target point is a point on a preset surface of the three-dimensional skull model that is closest to the region point, where 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 three-dimensional model of the device so that a second reference point on an upper surface of the three-dimensional model of the device coincides with the second target point, the upper surface of the three-dimensional model of the device is parallel to a tangent plane of the predetermined surface at the second target point, and a 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 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.

6. The surgical planning device according to any one of claims 1 to 5, 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 region 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 region point; The regional points whose fit degree is less than the preset fit degree are removed from the candidate position set.

7. A surgical planning method, characterized in that: The method comprises: Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device; Performing three-dimensional skull reconstruction based on the medical imaging data to obtain a three-dimensional skull model of the patient; Screening the implantation position of the medical device based on 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; Calculating an implantation score corresponding to each candidate position based on the screening information of each candidate position, and determining whether the patient meets the surgical conditions based on the implantation score; Generate prompt information and send it to the terminal device to prompt the doctor whether the patient meets the surgical conditions; The screening method further includes collision screening, and 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 meets the collision constraint condition; Eliminate the area points that do not meet the collision constraint condition from the candidate position set; The collision constraints include: 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; The at least one processor is configured to detect whether each area point in the candidate position set satisfies a collision constraint condition in the following manner when executing the computer program: Acquire a first target point corresponding to each region point, where the first target point is the point on the inner surface of the skull of the three-dimensional skull model that is closest to the region point; For each first target point, perform the following processing: Setting the three-dimensional model of the device so that a first reference point of a 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 a 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 a 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, wherein the preset surface is a surface on the outside of the skull that is the preset distance 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.

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

9. 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 6.

10. 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 6 or implements the steps of the method according to any one of claims 7 to 8.

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