Electrode orientation determination method, device and system applied to directional stimulation electrode

Abstract

The embodiment of the invention discloses an electrode orientation determination method, device and system applied to a directional stimulation electrode. The method comprises the following steps: acquiring a brain CT image corresponding to a target user of which the brain is implanted with at least one directional stimulation electrode and a preset identification image slice corresponding to the directional stimulation electrode; wherein the preset identification image slice comprises a preset identification orientation vector of the direction identification; determining a target identification image slice containing a direction identification image from the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image; matching the target identification image slice with the preset identification image slice, and determining the preset identification orientation vector corresponding to the matched preset identification image slice as the direction identification orientation of the directional stimulation electrode implanted into the brain, thereby improving the discrimination precision and efficiency of the direction identification orientation of the directional stimulation electrode. Therefore, the objectivity, the accuracy and the real-time performance of the fragmented electrode orientation recognition result are improved.

Description

Technical Field

[0001] The present invention relates to the field of information technology, and in particular to a method, device and system for determining the electrode orientation used for a directional stimulation electrode. Background Art

[0002] Deep brain stimulation (DBS) is an invasive neuromodulation technology. This technology uses stereotactic surgery to implant stimulation electrodes in specific neural structures of the human brain, and implants a neurostimulator in the human body to connect the electrodes, which emits weak electrical pulses that can be adjusted and controlled, thereby changing the electrical activity and function of the brain's neural circuits and networks, and achieving the purpose of controlling and improving patients' symptoms.

[0003] At present, the new DBS electrode design allows the original circular stimulation output metal contacts to be split into multiple pieces. These electrodes support independent regulation of the stimulation output parameters of one or more pieces, thereby stimulating brain tissue in a specific direction, and are therefore called "directional electrodes." After the directional electrode is implanted, its direction needs to be determined. The current solution is to add specific direction marks on the electrode.

[0004] Through artificial experience, the orientation information of each slice is determined by identifying the development of direction markers in CT images after DBS surgery.

[0005] However, the problem with the above method is that it relies heavily on manual judgment results, has low efficiency in judging the orientation of the segmented electrodes, and the segmented electrode orientation recognition results are highly subjective, biased, low in accuracy, and poor in real-time performance. Summary of the invention

[0006] The present invention provides an electrode orientation determination method, device and system applied to directional stimulation electrodes, so as to improve the discrimination accuracy and efficiency of the direction identification orientation of the directional stimulation electrodes, thereby improving the objectivity, accuracy and real-time performance of the segmented electrode orientation recognition results.

[0007] In a first aspect, an embodiment of the present invention provides an electrode orientation determination method applied to a directional stimulation electrode, wherein the directional stimulation electrode includes a direction mark and at least two segment electrodes, and the relative position relationship between the direction mark and each segment electrode is fixed, and the method includes:

[0008] Acquire a brain CT image corresponding to a target user having at least one directional stimulation electrode implanted in the brain, and a preset identification image slice corresponding to the directional stimulation electrode; wherein the preset identification image slice includes a preset identification orientation vector corresponding to the directional identification;

[0009] Based on the target trajectory information of the directional stimulation electrode in the brain CT image, determining a target identification image slice including a direction identification image from the brain CT image;

[0010] The target identification image slice is matched with the preset identification image slice, and the preset identification orientation vector corresponding to the preset identification image slice that matches consistently is determined as the directional identification orientation of the directional stimulation electrode implanted in the brain.

[0011] In a second aspect, an embodiment of the present invention further provides an electrode orientation determination device for a directional stimulation electrode, wherein the directional stimulation electrode includes a direction mark and at least two segment electrodes, and the relative position relationship between the direction mark and each of the segment electrodes is fixed, and the device includes:

[0012] A CT image acquisition module, used to acquire a brain CT image corresponding to a target user having at least one directional stimulation electrode implanted in the brain, and a preset marked image slice corresponding to the directional stimulation electrode; wherein the preset marked image slice includes a preset marked orientation vector corresponding to the directional mark;

[0013] An image slice determination module, configured to determine a target identification image slice including a direction identification image from the brain CT image based on target trajectory information of the directional stimulation electrode in the brain CT image;

[0014] The identification direction determination module is used to match the target identification image slice with the preset identification image slice, and determine the preset identification direction vector corresponding to the matching preset identification image slice as the directional identification direction of the directional stimulation electrode implanted in the brain.

[0015] In a third aspect, an embodiment of the present invention further provides a medical system, the medical system comprising:

[0016] An implantable medical device, the implantable medical device at least comprising a pulse generator implanted in a target user's body and an electrode wire implanted in the target user's skull, the implanted end of the electrode wire being provided with at least a plurality of directional electrodes and a direction mark, the pulse generator being connected to the electrode wire;

[0017] a processor configured to obtain a postoperative image of the target patient after the electrode wire is implanted, execute the electrode orientation determination method applied to the directional stimulation electrode as any one of the embodiments of the present invention to determine the orientation of the directional stimulation electrode in the skull of the target user, and display the orientation of the directional stimulation electrode using a display;

[0018] A display is used to display the direction of the directional stimulation electrode.

[0019] In a fourth aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0020] one or more processors;

[0021] a storage device for storing one or more programs,

[0022] When one or more programs are executed by one or more processors, the one or more processors implement the electrode orientation determination method applied to a directional stimulation electrode as described in any of the embodiments of the present invention.

[0023] In a fifth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute an electrode orientation determination method for a directional stimulation electrode as described in any of the embodiments of the present invention.

[0024] The technical solution of the embodiment of the present invention is to obtain a brain CT image corresponding to a target user who has at least one directional stimulation electrode implanted in the brain, and a preset identification image slice corresponding to the directional stimulation electrode, wherein the preset identification image slice includes a preset identification orientation vector corresponding to the directional identification, and then, based on the target trajectory information of the directional stimulation electrode in the brain CT image, determine the target identification image slice containing the directional identification image from the brain CT image, wherein the center points of the target identification image slice and the preset identification image slice are both image data corresponding to the directional identification, and the two are of the same size, and further, match the target identification image slice with the preset identification image slice, and determine the preset identification orientation vector corresponding to the matching preset identification image slice as the directional identification orientation of the directional stimulation electrode implanted in the brain. The technical solution of this embodiment can perform automatic directional identification orientation recognition based on the postoperative CT scan results of the target user and the standard identification imaging results, thereby improving the accuracy and efficiency of the determination of the directional identification orientation of the directional stimulation electrode, thereby improving the objectivity, accuracy and real-time performance of the segmented electrode orientation recognition results. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required to describe the embodiments. Obviously, the drawings introduced are only drawings of a part of the embodiments to be described in the present invention, rather than all the drawings. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A schematic diagram showing the difference between a segmented electrode of a directional electrode according to an embodiment of the present invention and a traditional circular ring electrode;

[0027] Figure 2 A schematic flow chart of a method for determining the electrode orientation of a directional stimulation electrode provided by an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of the development of the stimulation electrode involved in the embodiment of the present invention in a CT image;

[0029] Figure 4 A schematic diagram of extracting a to-be-used marker image slice including a direction marker image from a skull mold CT image according to an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of a preset marked image slice involved in an embodiment of the present invention;

[0031] Figure 6 A comparison diagram of preprocessing results corresponding to the target identification image slices involved in the embodiment of the present invention;

[0032] Figure 7 A schematic diagram of a target identification image slice involved in an embodiment of the present invention rotating on a preset identification image slice;

[0033] Figure 8 A schematic diagram of an electrode orientation determination method for a directional stimulation electrode provided by an embodiment of the present invention;

[0034] Fig. 9 A schematic diagram of a target orientation vector of a direction mark in a target mark image slice involved in an embodiment of the present invention;

[0035] Fig.10 A schematic flow chart of another method for determining the electrode orientation of a directional stimulation electrode provided by an embodiment of the present invention;

[0036] Fig.11 A schematic diagram of the structure of an electrode orientation determination device applied to a directional stimulation electrode provided by an embodiment of the present invention;

[0037] Fig.12 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0038] Fig.13 A schematic diagram of the structure of a medical system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The technical solution provided by the embodiment of the present invention is mainly applied to the field of implantable medical devices. The implantable medical devices mainly include a pulse generator, an electrode wire and a programmable device (or medical device). The pulse generator is implanted in the patient's body (such as the chest cavity, skull, etc.). The electrode wire is connected to the pulse generator through one end under the skin, and the other end is equipped with a segmented electrode (i.e., a directional electrode). This part is implanted in a specified position of the patient's brain (such as a nucleus, neural tissue, etc. associated with the disease). The doctor generates programmable parameters to the pulse generator through the programmable device. The pulse generator delivers electrical stimulation to at least one electrode in the segmented electrode through the electrode wire, so that the at least one electrode generates an electric field to treat the corresponding disease. Therefore, determining the position of different segmented electrodes (i.e., the electrode orientation determined by the following method) can determine the position where the electric field is generated, and then the purpose of electrical stimulation for a specific nucleus position can be achieved.

[0040] Before introducing the embodiments of the present invention, the directional stimulation electrode can be described first. The stimulation output metal contact of the traditional DBS electrode is a circular ring, and the entire electrode is rotationally symmetrical at any angle and has no specific direction. The directional stimulation electrode is a stimulation output metal contact that is originally circular and split into multiple pieces, and there are even some special-shaped contact design schemes. These segmented electrodes support independent regulation of the stimulation output parameters of one or more segments, thereby achieving stimulation of brain tissue in a specific direction, and are therefore called "directional electrodes." The directional stimulation electrode includes at least two segmented electrodes and a direction marker, and the relative position relationship between the direction marker and each segmented electrode is fixed. The direction marker is a physical hardware structure configured on the directional stimulation electrode, also known as an image marker. The direction marker has a certain specific mechanical structure and material properties, so that it has certain imaging features in skull X-ray films and / or skull CT imaging, and the feature then identifies the direction indicated by the direction marker. Since the relative position relationship between the direction marker and each segment electrode is fixed, and the directional stimulation electrode is a rigid structure, the orientation information of each segment electrode in the patient's skull can be inferred by determining the orientation information of the direction marker in the patient's skull.

[0041] For ease of understanding, in the subsequent embodiments, the directional stimulation electrode includes a segmented electrode divided into three equal parts.

[0042] For an exemplary schematic diagram of the difference between the segmented electrode of the directional electrode and the traditional circular electrode, see Figure 1 .like Figure 1 As shown, the stimulation electrode includes a circular ring electrode and a directional electrode. Figure 1The metal ring-shaped contact wrapped around the outside of the wire is the ring-shaped electrode, and the corresponding expansion diagram of the ring-shaped electrode is a large rectangle; each rectangular metal contact wrapped around the outside of the wire is a segmented electrode, and the corresponding display diagram of these segmented electrodes is a plurality of small rectangles, and there may be gaps between each small rectangle. Figure 1 The white rectangle at the top is the direction mark, and the slice electrode facing the direction mark can be determined as slice electrode A, and the electrodes clockwise along slice electrode A are slice electrode B and slice electrode C. Since the distance between the direction mark and the slice electrode is a calibration quantity, based on this, on the basis of determining the orientation information of the direction mark in the three-dimensional space, the orientation information of slice electrode A, slice electrode B and slice electrode C in the three-dimensional space can be inferred.

[0043] Embodiment 1

[0044] Figure 2 A flow chart of a method for determining the electrode orientation of a directional stimulation electrode provided in an embodiment of the present invention. This embodiment is applicable to any situation where directional electrode orientation information needs to be determined. The method can be executed by an electrode orientation determination device, which can be implemented in the form of software and / or hardware. The hardware can be an electronic device, such as a mobile terminal, a PC or a server.

[0045] like Figure 2 As shown, the electrode orientation determination method applied to the directional stimulation electrode includes:

[0046] S110, obtaining a brain CT image corresponding to a target user having at least one directional stimulation electrode implanted in the brain, and a preset marked image slice corresponding to the directional stimulation electrode.

[0047] Among them, the target user is the user whose direction is about to be identified by the directional stimulation electrode implanted in his brain. One or more directional stimulation electrodes have been implanted in the brain of the target user. Brain CT image refers to the brain tomographic imaging data obtained by tomographic scanning of the target user's brain using computed tomography (CT). Computed tomography mainly irradiates the target user's brain with X-rays in a single axial plane. Since different tissues have different absorption capacities (or radiation blocking rates) for X-rays, the computer's three-dimensional technology can be used to reconstruct tomographic plane images. Through window width and window position processing, tomographic images of corresponding tissues can be obtained. By stacking tomographic images layer by layer, a three-dimensional image can be formed, which can be understood as a brain CT image including multiple layers of brain CT image slices, and each layer of brain CT image slice is a two-dimensional brain CT image.

[0048] The preset identification image slice is an image slice determined according to the direction identification in the preset CT image data, and the preset CT image data refers to the CT image determined by implanting the directional stimulation electrode in the mold. The preset identification image slice includes a preset identification orientation vector corresponding to the direction identification.

[0049] Next, the specific method of determining the preset marked image slice is described. In this embodiment, the specific implementation steps of determining the preset marked image slice corresponding to the directional stimulation electrode may include:

[0050] (1) According to the electrode implantation plan, the directional stimulation electrodes are implanted into the preset skull mold, and the skull mold CT image corresponding to the preset skull mold is scanned.

[0051] In this embodiment, the electrode implantation plan can be predetermined. For example, the electrode implantation plan can be an implantation path determined by a doctor based on the target nucleus to be implanted and the actual intracranial condition of the human body, and the implantation path usually has a certain inclination angle. A preset skull mold that can simulate the real brain of the human body can be preconfigured. Thus, according to the electrode implantation plan, the directional stimulation electrode can be implanted into the preset skull mold. Subsequently, the preset skull mold implanted with the directional stimulation electrode can be tomographically scanned using computed tomography technology, and multi-layer skull mold CT image slices can be obtained. The sum of these skull mold CT image slices is the skull mold CT image.

[0052] (2) Based on the electrode trajectory information of the directional stimulation electrode in the skull mold CT image, a standby marker image slice including a directional marker image is determined from the skull mold CT image.

[0053] In this embodiment, on the basis of obtaining the skull mold CT image, the electrode trajectory coordinates can be reconstructed from the skull mold CT image data using an electrode trajectory tracking algorithm, and these electrode trajectory coordinates are the trajectory information of the directional stimulation electrode in the skull mold CT image. According to the electrode trajectory coordinates, the point information of the direction mark in the skull mold CT image and the direction of the directional stimulation electrode can be determined, so that the standby marker image slice containing the direction mark image can be intercepted from the skull mold CT image according to the point information of the direction mark and the direction of the directional stimulation electrode.

[0054] Optionally, the specific implementation method of intercepting the to-be-used marker image slice containing the direction marker image from the skull mold CT image may include at least the following two methods:

[0055] The first method: based on the electrode trajectory information of the directional stimulation electrode in the skull mold CT image and the calibrated distance between the most ventral contact point corresponding to the directional stimulation electrode and the direction marker, the stand-by marker image slice containing the direction marker image is determined from the multi-layer skull mold CT image slices in the skull mold CT image.

[0056] In this embodiment, the skull mold CT image includes multi-layer skull mold CT image slices, and these skull mold CT image slices are two-dimensional skull mold CT images.

[0057] For a specific diagram of the development of the stimulation electrode in CT images, see Figure 3 , Figure 3 (a) is a cross-sectional development image of a CT image. Figure 3 (b) is a sagittal plane development image of a CT image, and it can be seen that the development of the stimulation electrode in the CT image slice is clearly different from that of the brain tissue. Based on this, the electrode trajectory information of the directional stimulation electrode in the skull mold CT image can be determined by threshold segmentation, target detection and other methods, and the first skull mold CT image slice to which the most ventral contact on the directional stimulation electrode belongs can be determined. Furthermore, based on the first skull mold CT image slice and the calibrated distance between the most ventral contact and the direction mark, at least one to-be-processed identification image slice containing the direction mark image can be determined from the multi-layer skull mold CT image slices, so that these to-be-processed identification image slices can be averaged or screened to obtain the to-be-used identification image slices.

[0058] The second method: extracting electrode trajectory coordinate data corresponding to the directional stimulation electrode from the skull mold CT image; based on the electrode trajectory coordinate data, determining the antral point position coordinates corresponding to the most ventral contact of the directional stimulation electrode and the electrode fitting line corresponding to the directional stimulation electrode; determining the identification position coordinates of the direction marker in the skull mold CT image based on the antral point position coordinates and the calibrated distance between the most ventral contact and the direction marker; intercepting a mold CT image slice in a plane perpendicular to the electrode fitting line with the identification position coordinates as the center of the circle from the skull mold CT image; based on a preset radius parameter, intercepting a circular CT image slice from the mold CT image slice, and determining the circular CT image slice as a stand-by identification image slice containing the direction marker image.

[0059] Specifically, the electrode trajectory tracking algorithm can be used to extract the electrode trajectory coordinate data corresponding to the directional stimulation electrode from the skull mold CT image data. For example, the electrode trajectory coordinate data can be expressed as {(103 131 142), (103131 143), (104 131 144), (105 132 145) ..., (XYZ)}, and the meaning of each element in the vector is the three-dimensional coordinate corresponding to the voxel constituting the directional stimulation electrode in the skull mold CT image data. According to the coordinate values ​​of these electrode trajectory coordinate data, the antinode position coordinates corresponding to the most ventral contact point of the directional stimulation electrode (i.e., the farthest end point of the electrode wire) can be determined. The electrode trajectory coordinate data are fitted to obtain the electrode fitting line corresponding to the directional stimulation electrode. The calibrated distance between the most ventral contact point and the direction mark is the inherent attribute corresponding to the directional stimulation electrode. Based on this, according to the antinode position coordinates, the calibrated distance and the electrode fitting line, the marker position coordinates of the direction mark in the skull mold CT image can be determined. Furthermore, a plane perpendicular to the electrode fitting line can be intercepted from the skull mold CT image with the identification position coordinate as the center of the circle, and the intercepted plane can be called a mold CT image slice. Since the mold CT image slice has an irregular shape, in order to facilitate the subsequent electrode orientation identification based on the mold CT image slice, the mold CT image slice can be corrected. Here, the shape of the mold CT image slice can be corrected by intercepting a disk of a preset radius from the mold CT image slice. Based on this, a circular CT image slice with a radius of a preset radius parameter can be intercepted from the mold CT image slice with the identification position coordinate as the center of the circle. The circular CT image slice is the standby identification image slice containing the direction identification image.

[0060] For example, a schematic diagram of extracting a to-be-used marker image slice including a direction marker image from a skull mold CT image is shown in FIG. Figure 4 . Figure 4 This is a sagittal image of the skull mold CT image. Figure 4 The white straight image in the middle is the projection of the entire stimulating electrode in the sagittal view, Pterminal in the figure is the projection of the most ventral contact of the directional stimulating electrode in the sagittal view, and Pmarker in the figure represents the position area of ​​the center of the directional marker in the sagittal view. According to the model of the directional stimulating electrode, the calibration distance between the most ventral contact and the directional marker can be known, which is denoted as d. Based on this, we can take Pterminal as the starting point and the point given by the vector with a length of d upward along the direction of the electrode fitting straight line is denoted as Pmarker. Furthermore, with Pmarker as the center of the circle, along the normal direction of the electrode (i.e. Figure 4Draw a disk with a radius of 4 mm (or other appropriate default values) on the plane indicated by the bold black dashed line in the middle. This disk is the identification image slice to be used that contains the direction identification image.

[0061] (3) Direction identification labeling is performed on the identification image slice to be used, and a preset identification orientation vector of the direction identification in the identification image slice to be used is determined.

[0062] In this embodiment, on the basis of obtaining the to-be-used identification image slice, conventional image recognition technology or professional technicians can be used to mark the preset identification orientation vector of the direction identification in the to-be-used identification image slice. Figure 5 ,like Figure 5 As shown, with Pmarker as the starting point, the vector determined in the direction pointed by the "marker direction" is the preset marker direction vector.

[0063] (4) Determine the to-be-used marker image slice containing the preset marker orientation vector as the preset marker image slice corresponding to the directional stimulation electrode.

[0064] In this embodiment, after the direction identification labeling process of the to-be-used identification image slice is completed, the to-be-used identification image slice containing the preset identification orientation vector may be determined as the preset identification image slice.

[0065] It can be understood that the preset marked image slice can be understood as a standard image of the image mark set in advance under CT scanning, and the image mark direction of the preset marked image slice is determined.

[0066] In particular, when determining the preset marker image slice, multiple marker image slices to be used may be intercepted, and their respective Pmarker points may be overlapped, and then all the above images may be averaged to obtain an averaged image as the final preset marker image slice.

[0067] S120 , determining a target identification image slice including a direction identification image from the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image.

[0068] Among them, the target trajectory information is the electrode trajectory coordinate data corresponding to the directional stimulation electrode in the brain CT image of the target user. The target identification image slice is an image slice determined based on the target trajectory information in the brain CT image of the target user. It can be understood that the difference between the preset identification image slice and the target identification image slice is that the identification orientation corresponding to the directional identification in the preset identification image slice is determined, while the identification orientation in the target identification image slice is unknown, and the identification orientation in the target identification image slice needs to be determined based on the preset identification image slice.

[0069] Specifically, based on the target trajectory information of the directional stimulation electrode in the brain CT image, the specific implementation method of determining the target identification image slice containing the directional identification image from the brain CT image may include the following two methods:

[0070] The first method: based on the target trajectory information of the directional stimulation electrode in the brain CT image and the calibrated distance between the most ventral contact point corresponding to the directional stimulation electrode and the direction marker, a target marker image slice containing a direction marker image is determined from the multi-layer brain CT image slices in the brain CT image.

[0071] In this embodiment, the multi-layer brain CT image slices in the brain CT image are two-dimensional brain CT images. The electrode trajectory information of the directional stimulation electrode in the brain CT image can be determined by threshold segmentation, target detection and other methods, and the first brain CT image slice to which the most ventral contact on the directional stimulation electrode belongs can be determined. Further, according to the calibration distance between the first brain CT image slice and the most ventral contact and the direction mark, the target mark image slice containing the direction mark image can be determined from the multi-layer brain CT image slices.

[0072] The second method: extracting target electrode trajectory coordinate data corresponding to the directional stimulation electrode from the brain CT image; determining the target abdominal point position coordinates corresponding to the most ventral contact of the directional stimulation electrode and the target electrode fitting line corresponding to the directional stimulation electrode based on the target electrode trajectory coordinate data; determining the target marker position coordinates of the direction marker in the brain CT image based on the target abdominal point position coordinates and the calibrated distance between the most ventral contact and the direction marker; intercepting a brain CT image slice in a plane perpendicular to the target electrode fitting line with the target marker position coordinates from the brain CT image; intercepting a target circular CT image slice from the brain CT image slice based on a preset radius parameter, and determining the target circular CT image slice as the target marker image slice containing the direction marker image.

[0073] Specifically, the target electrode trajectory coordinate data corresponding to the directional stimulation electrode can be extracted from the brain CT image data using an electrode trajectory tracking algorithm. According to the coordinate values ​​of these target electrode trajectory coordinate data, the target antinode position coordinates corresponding to the most ventral contact of the directional stimulation electrode (i.e., the most distal end of the electrode wire) can be determined. These target electrode trajectory coordinate data are fitted to obtain a target electrode fitting line corresponding to the directional stimulation electrode. The calibrated distance between the most ventral contact and the direction marker is an inherent property corresponding to the directional stimulation electrode. Based on this, according to the target antinode position coordinates, the calibrated distance and the target electrode fitting line, the target marker position coordinates of the direction marker in the brain CT image data can be determined. Further, the plane perpendicular to the target electrode fitting line can be intercepted from the brain CT image data with the target marker position coordinates as the center of the circle, and the intercepted plane can be called a brain CT image slice. Furthermore, a circular CT image slice with a radius of a preset radius parameter can be intercepted from the brain CT image slice with the target marker position coordinates as the center of the circle, and the circular CT image slice is the target marker image slice containing the direction marker image.

[0074] It should be particularly noted that if the first method is used to determine the identification image slice to be used when determining the preset identification image slice, the first method is also used to determine the target identification image slice; if the second method is used to determine the identification image slice to be used when determining the preset identification image slice, the second method is also used to determine the target identification image slice.

[0075] It is understandable that after obtaining the preset identification image slice and the target identification image slice, an image preprocessing process of automatically adjusting the image contrast can be added to make the imaging artifacts more prominent. For example, the comparison diagram of the preprocessing results corresponding to the target identification image slice is shown in Figure 6 , Figure 6 (a) is the target identification image slice before preprocessing. Figure 6 (b) is the target identification image slice after preprocessing. It can be seen that the light / dark lines in the target identification image slice are clearer after preprocessing, highlighting the artifacts of the stimulation electrode in the CT image.

[0076] S130, matching the target identification image slice with the preset identification image slice, and determining the preset identification orientation vector corresponding to the preset identification image slice with consistent matching as the directional identification orientation of the directional stimulation electrode implanted in the brain.

[0077] The direction mark orientation refers to the development direction corresponding to the direction mark arranged on the directional stimulation electrode.

[0078] In this embodiment, the specific implementation method of matching the target identification image slice with the preset identification image slice to determine the directional identification orientation of the directional stimulation electrode implanted in the brain may include at least the following two examples:

[0079] The first method is to establish a preset identification image slice set including multiple preset identification image slices, wherein each preset identification image slice in the preset identification image slice set corresponds to a different preset identification orientation vector. The target identification image slice is matched with each preset identification image slice one by one to determine the matching degree between the target identification image slice and each preset identification image slice, and the preset identification image slice with the highest matching degree is determined as the reference identification image slice, and the preset identification orientation vector corresponding to the reference identification image slice is determined as the directional identification orientation of the directional stimulation electrode implanted in the brain.

[0080] The second method is to adjust the preset identification orientation vector of the preset identification image slice to the preset direction of the current view, for example, directly above. Then, the preset identification image slice and the target identification image slice are superimposed according to their center points. Subsequently, the preset identification image slice remains stationary, and the target identification image slice is controlled to rotate in a circle on the preset identification image slice according to the preset angle step. For example, a schematic diagram of the target identification image slice after being rotated on the preset identification image slice is shown in FIG. Figure 7 , Figure 7 The medium to light gray image can represent the preset identification image slice. Figure 7 The medium-dark gray image can represent the target identification image slice. Figure 7 (a) is a schematic diagram showing the angle between the target identification image slice and the preset identification image slice when it is θ. Figure 7 (b) is a schematic diagram when the angle between the target identification image slice and the preset identification image slice is 0. In particular, Figure 7 The reference image in is the preset identification image slice. After completing the circular rotation, multiple cumulative rotation angles and the difference corresponding to each cumulative rotation angle are obtained. By fitting these discrete data, the objective function of the identification angle and the difference can be obtained. Therefore, according to the objective function, the target cumulative rotation angle corresponding to the target difference with the smallest difference can be determined. In the target identification image slice, a vector of any length in the direction of the target cumulative rotation angle relative to the initial reference direction is determined as the target orientation vector of the direction identification, that is, the direction identification orientation of the directional stimulation electrode implanted in the brain.

[0081] The technical solution of the embodiment of the present invention is to obtain a brain CT image corresponding to a target user who has at least one directional stimulation electrode implanted in the brain, and a preset identification image slice corresponding to the directional stimulation electrode, wherein the preset identification image slice includes a preset identification orientation vector corresponding to the directional identification, and then, based on the target trajectory information of the directional stimulation electrode in the brain CT image, determine the target identification image slice containing the directional identification image from the brain CT image, match the target identification image slice with the preset identification image slice, and determine the preset identification orientation vector corresponding to the preset identification image slice that matches consistently as the directional identification orientation of the directional stimulation electrode implanted in the brain. The technical solution of this embodiment can perform automated directional identification orientation recognition based on the postoperative CT scan results of the target user and the standard identification imaging results, thereby improving the accuracy and efficiency of distinguishing the directional identification orientation of the directional stimulation electrode, thereby improving the objectivity, precision and real-time performance of the segmented electrode orientation recognition results.

[0082] Embodiment 2

[0083] Figure 8 This is a schematic diagram of a method for determining the electrode orientation of a directional stimulation electrode provided in an embodiment of the present invention. Based on the above embodiment, S130 is further refined. The specific implementation method can refer to the technical solution of this embodiment. The technical terms that are the same or corresponding to the above embodiment are not repeated here.

[0084] like Figure 8 As shown, the method specifically comprises the following steps:

[0085] S210, obtaining a brain CT image corresponding to a target user having at least one directional stimulation electrode implanted in the brain, and a preset identification image slice corresponding to the directional stimulation electrode, wherein the preset identification image slice includes a preset identification orientation vector corresponding to the directional identification.

[0086] S220 , determining a target identification image slice including a direction identification image from the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image.

[0087] S230, adjusting the preset identification orientation vector of the preset identification image slice to the preset direction of the current view, controlling the target identification image slice to perform circular rotation on the preset identification image slice, and determining the difference between the target identification image slice and the preset identification image slice during the rotation process.

[0088] Among them, the center points of the target identification image slice and the preset identification image slice are both image data corresponding to the direction identification, and the two are of the same size.

[0089] Among them, the preset direction is a pre-set direction, for example, the preset direction may be directly above, directly below, in a direction with a preset angle to directly above, etc. For ease of understanding, the preset direction may be set to directly above. The difference is used to measure the difference between two images. In this embodiment, any image difference algorithm may be used to determine the difference between the target identification image slice and the preset identification image slice. For example, the image difference algorithm may include a pixel difference method, a mean square error method, a root mean square error method, a mean absolute error method, etc. It should be particularly noted that the specific methods included in the image difference algorithm are not listed one by one here, as long as the algorithm can evaluate the difference between two images.

[0090] Specifically, on the basis of obtaining the preset identification image slice and the target identification image slice, the preset identification orientation vector of the preset identification image slice can be adjusted to the preset direction of the current view, for example, directly above. Then, the preset identification image slice and the target identification image slice are superimposed according to their center points. Subsequently, the preset identification image slice remains stationary, and the target identification image slice is controlled to rotate in a circle on the preset identification image slice according to the preset angle step. During the rotation of the target identification image slice, the difference between the preset identification image slice and the target identification image is determined once each time the preset angle step is rotated.

[0091] Optionally, the specific implementation steps of this step may include:

[0092] S2301. Adjust the preset identification orientation vector of the preset identification image slice to the preset direction of the current view, and perform overlapping processing on the preset identification image slice and the target identification image slice based on the center point.

[0093] In this embodiment, on the basis of obtaining the preset identification image slice and the target identification image slice, the preset identification orientation vector of the preset identification image slice is adjusted to the preset direction of the current view, for example, the preset direction is directly upward. Then, with the center point of the preset identification image slice and the target identification image slice as the reference, the preset identification image slice and the target identification image slice are overlapped.

[0094] S2302, controlling the target identification image slice to rotate on the preset identification image slice based on the center point and the rotation axis according to the preset angle step, and determining the difference between the target identification image slice and the preset identification image slice after each rotation.

[0095] The preset angle step is a preset rotation angle step, for example, the preset angle step may be 1°.

[0096] In this embodiment, after the preset identification image slice and the target identification image slice are overlapped, the target identification image slice remains unchanged, and the target identification image slice is rotated on the preset identification image slice. The specific rotation method is: the center point of the preset identification image slice and the target identification image slice is used as the rotation axis, and the target identification image slice is rotated by a preset angle step each time, and after each rotation, the difference between the target identification image slice and the preset identification image slice is calculated.

[0097] Optionally, the implementation method of determining the difference between the target identification image slice and the preset identification image slice may include: determining the difference between the target identification image slice and the preset identification image slice based on the pixel difference at each pixel position of the target identification image slice and the preset identification image slice.

[0098] In this embodiment, a difference operation can be performed on the pixel values ​​at each corresponding pixel position of the target identification image slice and the preset identification image slice, and each pixel difference value can be summed to obtain the difference between the target identification image slice and the preset identification image slice.

[0099] S240, determining the directional identification orientation of the directional stimulation electrode implanted in the brain based on the respective difference degrees and the accumulated rotation angle of the target identification image slice.

[0100] The cumulative rotation angle refers to the sum of the angles of each rotation during the continuous rotation of the target identification image slice. The target orientation vector represents the development direction corresponding to the direction identification in the target identification image slice.

[0101] In this embodiment, after the target identification image slice completes the circular rotation, multiple cumulative rotation angles and the difference corresponding to each cumulative rotation angle can be obtained. Thus, the target difference with the smallest difference can be determined from all the differences, and the target cumulative rotation angle corresponding to the target difference can be determined. For the target identification image slice, at the initial moment of overlap between the target identification image slice and the preset identification image slice, the mapping vector of the preset identification orientation vector on the preset identification image slice on the target identification image slice is determined, and the mapping vector is determined as the initial reference direction. Furthermore, in the target identification image slice, a vector of any length in the direction of the target cumulative rotation angle relative to the initial reference direction is determined as the target orientation vector of the direction identification, and the target orientation vector is the direction identification orientation of the directional stimulation electrode implanted in the brain.

[0102] For example, a schematic diagram of a target orientation vector of a direction identifier in a target identifier image slice is shown in Fig. 9 . Fig. 9The small circle in (a) represents the preset identification image slice, and the large circle represents the target identification image slice. (In fact, the size of the target identification image slice and the preset identification image slice are the same. The inconsistency between the two sizes is only to effectively illustrate how to determine the target orientation vector.) The preset identification image slice includes the A marker point, the B marker point, the C marker point, and the D marker point, and the target identification image slice includes the W marker point, the X marker point, the Y marker point, and the Z marker point. Fig. 9 (a) represents the initial moment of overlap of the target identification image slice and the preset identification image slice, and the initial position corresponding to each marking point. At this time, the preset identification orientation vector OA in the preset identification image slice points to the top of the current view, and the mapping vector of the preset identification orientation vector OA on the target identification image slice is vector OW. Assume that after the target identification image slice is rotated 360°, the target difference degree corresponding to the target cumulative rotation angle is 52°. Based on this, in the target identification image slice, the vector OW can be used as the initial reference direction, and the vector OS in the direction of 52° relative to the initial reference direction (i.e., vector OW) is determined as the target orientation vector of the direction identification.

[0103] Optionally, the specific implementation steps of this step may include:

[0104] S2401. Construct a mapping function between the difference degree and the rotation angle based on each difference degree and the accumulated rotation angle of the target identification image slice.

[0105] In this embodiment, each cumulative rotation angle has a corresponding difference degree, based on which a two-dimensional discrete point set can be constructed according to each difference degree and the cumulative rotation angle of the target identification image slice, and the set is called a mapping function between the difference degree and the rotation angle. Alternatively, an interpolation algorithm can be used to perform interpolation fitting processing on each discrete point to obtain a continuous fitting function, which is called a mapping function between the difference degree and the rotation angle.

[0106] S2402: Based on the mapping function, determine the target cumulative rotation angle when the difference satisfies a preset condition.

[0107] Among them, the preset conditions may include but are not limited to: a first preset condition, determining the cumulative rotation angle corresponding to the minimum difference as the target cumulative rotation angle; a second preset condition, determining the average value of the cumulative rotation angles corresponding to at least one difference less than a preset threshold as the target cumulative rotation angle; a third preset condition, taking the derivative of a continuous fitting function, calculating the minimum value of the continuous fitting function, and determining the cumulative rotation angle corresponding to the minimum value as the target cumulative rotation angle.

[0108] In this embodiment, if the mapping function is a two-dimensional discrete point set, the first preset condition and / or the second preset condition may be applied to determine the target cumulative rotation angle. If the mapping function is a continuous fitting function, the third preset condition may be applied to determine the target cumulative rotation angle.

[0109] S2403. At the initial moment when the target identification image slice and the preset identification image slice overlap, determine a mapping vector of the preset identification orientation vector on the preset identification image slice on the target identification image slice, so as to determine the mapping vector as an initial reference direction.

[0110] In this embodiment, at the initial moment when the target identification image slice and the preset identification image slice overlap, the mapping vector of the preset identification orientation vector on the preset identification image slice on the target identification image slice can be recorded, so that this mapping vector on the target identification image slice can be determined as the initial reference direction.

[0111] S2404. In the target identification image slice, determine the target orientation vector of the direction identification in the direction of the target cumulative rotation angle relative to the initial reference direction, so as to determine the direction indicated by the target orientation vector as the direction identification orientation of the directional stimulation electrode implanted in the brain.

[0112] In this embodiment, on the basis of determining the initial reference direction and the target cumulative rotation angle, a vector of any length in the direction of the target cumulative rotation angle relative to the initial reference direction can be determined as the target orientation vector of the direction identification. Thus, the direction indicated by the target orientation vector can be determined as the direction identification orientation of the directional stimulation electrode implanted in the brain.

[0113] The technical solution of the embodiment of the present invention is that when determining the difference between the target identification image slice and the preset identification image slice, the preset identification orientation vector of the preset identification image slice is adjusted to the preset direction of the current view, and the preset identification image slice and the target identification image slice are overlapped based on the center point; the target identification image slice is controlled to rotate on the preset identification image slice according to the preset angle step length with the center point as the rotation axis, and after each rotation, the difference between the target identification image slice and the preset identification image slice is determined. When the target orientation vector of the direction identification in the target identification image slice, a mapping function between the difference and the rotation angle is constructed based on each difference and the cumulative rotation angle of the target identification image slice; based on the mapping function, the target cumulative rotation angle when the difference meets the preset condition is determined; for the target identification image slice, when the target identification image slice and the preset identification image slice are initially overlapped, the mapping vector of the preset identification orientation vector on the preset identification image slice on the target identification image slice is used as the initial reference direction; in the target identification image slice, the target orientation vector of the direction identification is determined from the direction of the target cumulative rotation angle relative to the initial reference direction. The technical solution of this embodiment improves the accuracy of the target orientation vector by determining the mapping function between the difference degree and the rotation angle, and further improves the objectivity, precision and real-time performance of the segmented electrode orientation recognition result.

[0114] Embodiment 3

[0115] Fig.10 A schematic diagram of an electrode orientation determination method for directional stimulation electrodes provided in an embodiment of the present invention, based on the above-mentioned embodiment, on the basis of obtaining the direction identification orientation of the directional stimulation electrode, the segment electrode orientation vector of each segment electrode (i.e., directional stimulation electrode) in the three-dimensional brain space formed by the brain CT image can be determined, and its specific implementation method can refer to the technical solution of this embodiment. Among them, the technical terms that are the same or corresponding to the above-mentioned embodiments are not repeated here.

[0116] like Fig.10 As shown, the method specifically comprises the following steps:

[0117] S310, obtaining a brain CT image corresponding to a target user having at least one directional stimulation electrode implanted in the brain, and a preset identification image slice corresponding to the directional stimulation electrode; wherein the preset identification image slice includes a preset identification orientation vector corresponding to the directional identification.

[0118] S320 , based on the target trajectory information of the directional stimulation electrode in the brain CT image, intercepting a target identification image slice including a direction identification image from the brain CT image.

[0119] S320, matching the target identification image slice with the preset identification image slice, and determining the preset identification orientation vector corresponding to the preset identification image slice with consistent matching as the directional identification orientation of the directional stimulation electrode implanted in the brain.

[0120] S340. Determine the slice electrode orientation vector of each slice electrode in the three-dimensional brain space formed by the brain CT image based on the orientation of the directional marker of the directional stimulation electrode implanted in the brain and the relative position relationship between the directional marker and each slice electrode.

[0121] In this embodiment, the three-dimensional brain space corresponding to the target user can be constructed based on the brain CT image corresponding to the target user, and the mapping plane of the target identification image slice in the three-dimensional brain space can be determined, and then the mapping vector of the target orientation vector in the mapping plane can be determined. According to the relative position relationship between the direction identification and each slice electrode, the mapping vector can be transformed accordingly. The transformed mapping vector is the slice electrode orientation vector of the corresponding slice electrode in the three-dimensional brain space.

[0122] For example, see Figure 1 , the center point of the direction mark and the center point of the segmented electrode A are located on a straight line, and the distance between the two center points is d; the segmented electrode A, the segmented electrode B and the segmented electrode C are distributed in three equal parts. After obtaining the mapping vector of the target orientation vector in the three-dimensional space of the brain, the mapping vector is translated downward by d along the direction of the directional stimulation electrode to obtain the first vector; the first vector is rotated 120° clockwise along the direction perpendicular to the directional stimulation electrode to obtain the second vector; the second vector is rotated 120° clockwise along the direction perpendicular to the directional stimulation electrode to obtain the third vector. Based on this, the first vector is the segmented electrode orientation vector of the segmented electrode A in the three-dimensional space of the brain; the second vector is the segmented electrode orientation vector of the segmented electrode B in the three-dimensional space of the brain; the third vector is the segmented electrode orientation vector of the segmented electrode C in the three-dimensional space of the brain.

[0123] The technical solution of the embodiment of the present invention can further determine the slice electrode orientation vector of each slice electrode in the three-dimensional brain space formed by the brain CT image based on the direction identification orientation of the directional stimulation electrode implanted in the brain and the relative position relationship between the direction identification and each slice electrode. The technical solution of this embodiment can automatically identify the direction identification orientation based on the postoperative CT scan results of the target user and the standard identification imaging results, and then determine the orientation information corresponding to each slice electrode, thereby improving the objectivity, accuracy and real-time performance of the slice electrode orientation identification results.

[0124] Embodiment 4

[0125] Fig.11 A structural schematic diagram of an electrode orientation determination device for a directional stimulation electrode provided in an embodiment of the present invention, wherein the directional stimulation electrode includes at least two slice electrodes and a direction marker, and the relative position relationship between the direction marker and each slice electrode is fixed. The device includes: a CT image acquisition module 410, an image slice determination module 420, and an identification orientation determination module 430.

[0126] The CT image acquisition module 410 is used to acquire a brain CT image corresponding to a target user having at least one directional stimulation electrode implanted in the brain, and a preset identification image slice corresponding to the directional stimulation electrode; wherein the preset identification image slice includes a preset identification orientation vector corresponding to the directional identification;

[0127] The image slice determination module 420 is used to determine the target identification image slice containing the direction identification image from the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image; wherein the center points of the target identification image slice and the preset identification image slice are both image data corresponding to the direction identification, and the two have the same size;

[0128] The identification direction determination module 430 is used for the identification direction determination module, which is used to match the target identification image slice with the preset identification image slice, and determine the preset identification direction vector corresponding to the matching preset identification image slice as the directional identification direction of the directional stimulation electrode implanted in the brain.

[0129] On the basis of the above device, optionally, the electrode orientation determination device further includes: a preset identification slice determination module; the preset identification slice determination module includes:

[0130] A mold CT image determination unit, used to implant the directional stimulation electrode into a preset skull mold according to the electrode implantation plan, and scan the skull mold CT image corresponding to the preset skull mold;

[0131] A standby slice interception determination unit is used to determine a standby identification image slice containing a directional identification image from the skull mold CT image based on the electrode track information of the directional stimulation electrode in the skull mold CT image;

[0132] The identification direction labeling unit is used to perform the direction identification labeling processing on the identification image slice to be used, and determine the preset identification direction vector of the direction identification in the identification image slice to be used;

[0133] The preset identification slice determination unit is used to determine the standby identification image slice containing the preset identification orientation vector as the preset identification image slice corresponding to the directional stimulation electrode.

[0134] On the basis of the above-mentioned device, optionally, a standby slice interception unit is used to determine the standby identification image slice containing the directional identification image from the multi-layer skull mold CT image slices in the skull mold CT image based on the electrode trajectory information of the directional stimulation electrode in the skull mold CT image and the calibrated distance between the most ventral contact corresponding to the directional stimulation electrode and the directional identification.

[0135] Based on the above device, optionally, the slice cutting unit to be used includes:

[0136] A trajectory coordinate determination subunit is used to extract electrode trajectory coordinate data corresponding to the directional stimulation electrode from the skull mold CT image;

[0137] A trajectory coordinate processing subunit, for determining the position coordinates of the ventral point corresponding to the most ventral contact point of the directional stimulation electrode and the electrode fitting straight line corresponding to the directional stimulation electrode based on the electrode trajectory coordinate data;

[0138] A marker position determination subunit, used to determine the marker position coordinates of the direction marker in the skull mold CT image based on the ventral point position coordinates and the calibrated distance between the most ventral contact point and the direction marker;

[0139] The mold slice determination subunit is used to intercept the mold CT image slice in the plane perpendicular to the electrode fitting straight line with the marked position coordinate as the center of the circle from the skull mold CT image;

[0140] The standby slice interception subunit is used to intercept circular CT image slices from the mold CT image slices based on a preset radius parameter, and determine the circular CT image slices as standby identification image slices containing direction identification images.

[0141] On the basis of the above-mentioned device, optionally, an image slice determination module 420 is used to determine a target identification image slice containing a directional identification image in a multi-layer brain CT image slice in a brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image and the calibrated distance between the most ventral contact corresponding to the directional stimulation electrode and the directional identification. On the basis of the above-mentioned device, optionally, an image slice determination module 420 is used to determine a target identification image slice containing a directional identification image in a multi-layer brain CT image slice in a brain CT image.

[0142] Based on the above device, optionally, the image slice determination module 420 includes:

[0143] A target trajectory coordinate determination unit, used for extracting target electrode trajectory coordinate data corresponding to the directional stimulation electrode from the brain CT image;

[0144] A target trajectory coordinate processing unit, used to determine the target ventral point position coordinates corresponding to the most ventral contact point of the directional stimulation electrode and the target electrode fitting straight line corresponding to the directional stimulation electrode based on the target electrode trajectory coordinate data;

[0145] a target marker position determination unit, for determining the target marker position coordinates of the direction marker in the brain CT image based on the target ventral point position coordinates and the calibrated distance between the most ventral contact point and the direction marker;

[0146] A brain slice determination unit, used to intercept a brain CT image slice in a plane perpendicular to the target electrode fitting straight line with the target marker position coordinates from the brain CT image;

[0147] The target slice interception unit is used to intercept the target circular CT image slice from the brain CT image slice based on the preset radius parameter, and determine the target circular CT image slice as the target identification image slice containing the direction identification image.

[0148] Based on the above device, optionally, the identification direction determination module 430 includes:

[0149] The preset identification orientation vector of the preset identification image slice is adjusted to the preset direction of the current view, the target identification image slice is controlled to perform a circular rotation on the preset identification image slice, and the difference between the target identification image slice and the preset identification image slice is determined during the rotation process; wherein the center points of the target identification image slice and the preset identification image slice are both image data corresponding to the direction identification, and the sizes of the two are consistent;

[0150] Based on each of the difference degrees and the accumulated rotation angle of the target marker image slice, the directional marker orientation of the directional stimulation electrode implanted in the brain is determined.

[0151] Based on the above device, optionally, the difference determination module 420 includes:

[0152] a difference determination unit, used for adjusting the preset identification orientation vector of the preset identification image slice to the preset direction of the current view, controlling the target identification image slice to perform a circular rotation on the preset identification image slice, and determining the difference between the target identification image slice and the preset identification image slice during the rotation process; wherein the center points of the target identification image slice and the preset identification image slice are both image data corresponding to the direction identification, and the sizes of the two are consistent;

[0153] The marker orientation determining unit is used to determine the directional marker orientation of the directional stimulation electrode implanted in the brain based on each of the difference degrees and the cumulative rotation angle of the target marker image slice.

[0154] Based on the above device, optionally, the difference determination unit includes:

[0155] The slice overlap processing subunit is used to adjust the preset identification orientation vector of the preset identification image slice to the preset direction of the current view, and perform overlap processing on the preset identification image slice and the target identification image slice based on the center point;

[0156] The difference determination subunit is used to control the target identification image slice to rotate on the preset identification image slice based on the center point and the rotation axis according to the preset angle step, and determine the difference between the target identification image slice and the preset identification image slice after each rotation.

[0157] Based on the above device, optionally, the difference determination subunit is specifically used to determine the difference between the target identification image slice and the preset identification image slice based on the pixel difference at each pixel position of the target identification image slice and the preset identification image slice.

[0158] Based on the above device, optionally, the identification direction determination unit includes:

[0159] A mapping function determination subunit is used to construct a mapping function between the difference degree and the rotation angle based on each difference degree and the accumulated rotation angle of the target identification image slice;

[0160] A target angle determination subunit, used to determine the target cumulative rotation angle when the difference satisfies a preset condition based on a mapping function;

[0161] an initial direction determination subunit, configured to determine, at an initial moment when the target identification image slice and the preset identification image slice overlap, a mapping vector of the preset identification orientation vector on the preset identification image slice on the target identification image slice, so as to determine the mapping vector as an initial reference direction;

[0162] The target orientation determination subunit is used to determine the target orientation vector of the direction identifier in the target identification image slice in the direction of the target cumulative rotation angle relative to the initial reference direction, so as to determine the direction indicated by the target orientation vector as the direction identifier orientation of the directional stimulation electrode implanted in the brain.

[0163] On the basis of the above-mentioned device, optionally, the electrode orientation determination device also includes: a slice electrode orientation determination module, which is used to determine the slice electrode orientation vector of each slice electrode in the three-dimensional brain space formed by the brain CT image based on the direction identification orientation of the directional stimulation electrode implanted in the brain and the relative position relationship between the direction identification and each slice electrode.

[0164] The technical solution of the embodiment of the present invention is to obtain a brain CT image corresponding to a target user who has at least one directional stimulation electrode implanted in the brain, and a preset identification image slice corresponding to the directional stimulation electrode, wherein the preset identification image slice includes a preset identification orientation vector corresponding to the directional identification, and then, based on the target trajectory information of the directional stimulation electrode in the brain CT image, determine the target identification image slice containing the directional identification image from the brain CT image, wherein the center points of the target identification image slice and the preset identification image slice are both image data corresponding to the directional identification, and the two are of the same size, match the target identification image slice with the preset identification image slice, and determine the preset identification orientation vector corresponding to the matching preset identification image slice as the directional identification orientation of the directional stimulation electrode implanted in the brain. The technical solution of this embodiment can perform automatic directional identification orientation recognition based on the postoperative CT scan results of the target user and the standard identification imaging results, thereby improving the accuracy and efficiency of the determination of the directional identification orientation of the directional stimulation electrode, thereby improving the objectivity, accuracy and real-time performance of the segmented electrode orientation recognition results.

[0165] The electrode orientation determination device for directional stimulation electrodes provided in the embodiment of the present invention can execute the electrode orientation determination method for directional stimulation electrodes provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0166] It is worth noting that the various units and modules included in the above system are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present invention.

[0167] Embodiment 5

[0168] Fig.12 The present invention is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Fig.12 A block diagram of an exemplary electronic device 50 suitable for implementing exemplary embodiments of the present invention is shown. Fig.12 The electronic device 50 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0169] like Fig.12 As shown, the electronic device 50 is in the form of a general computing device. The components of the electronic device 50 may include but are not limited to: one or more processors or processing units 501, a system memory 502, and a bus 503 connecting different system components (including the system memory 502 and the processing unit 501).

[0170] Bus 503 represents 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 structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0171] The electronic device 50 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 50, including volatile and non-volatile media, removable and non-removable media.

[0172] System memory 502 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 504 and / or cache memory 505. Electronic device 50 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 506 may be used to read and write non-removable, non-volatile magnetic media ( Fig.12 not shown, usually called a "hard drive"). Although Fig.12 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 503 via one or more data medium interfaces. The memory 502 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0173] A program / utility 508 having a set (at least one) of program modules 507 may be stored, for example, in the memory 502, such program modules 507 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. The program modules 507 generally perform the functions and / or methods of the embodiments described herein.

[0174] The electronic device 50 may also communicate with one or more external devices 509 (e.g., keyboards, pointing devices, displays 810, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 50, and / or may communicate with any device that enables the electronic device 50 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed through an input / output (I / O) interface 511. Furthermore, the electronic device 50 may also 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) through a network adapter 512. As shown, the network adapter 512 communicates with other modules of the electronic device 50 through the bus 503. It should be understood that although Fig.12 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 50, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0175] The processing unit 501 executes various functional applications and page processing by running the programs stored in the system memory 502, for example, implementing the electrode orientation determination method for directional stimulation electrodes provided in the embodiment of the present invention.

[0176] Embodiment 6

[0177] The embodiment of the present invention further provides a storage medium containing computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to execute a method for determining electrode orientation applied to a directional stimulation electrode, wherein the directional stimulation electrode includes at least two segment electrodes and a direction mark, and the relative position relationship between the direction mark and each of the segment electrodes is fixed. The method includes:

[0178] Acquire a brain CT image corresponding to a target user having at least one directional stimulation electrode implanted in the brain, and a preset identification image slice corresponding to the directional stimulation electrode; wherein the preset identification image slice includes a preset identification orientation vector corresponding to the directional identification;

[0179] Based on the target trajectory information of the directional stimulation electrode in the brain CT image, determining a target identification image slice including a direction identification image from the brain CT image;

[0180] The target identification image slice is matched with the preset identification image slice, and the preset identification orientation vector corresponding to the preset identification image slice that matches consistently is determined as the directional identification orientation of the directional stimulation electrode implanted in the brain.

[0181] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, 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.

[0182] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0183] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0184] Computer program code for performing the operation of embodiments of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0185] Embodiment 7

[0186] Fig.13 A structural schematic diagram of a medical system provided in an embodiment of the present application, the system comprising: an implantable medical device 710, a processor 720 and a display 730; the implantable medical device 710, the processor 720 and the display 730 can communicate with each other, a memory is provided in the server, the memory stores a computer program, the processor is used to execute the computer program and implement the electrode orientation determination method applied to the directional stimulation electrode when the computer program is executed.

[0187] Among them, the implantable medical device 710 includes at least a pulse generator implanted in the body of a target user and an electrode wire implanted in the skull of the target user, the implanted end of the electrode wire is provided with at least a plurality of directional electrodes and a direction marker, and the pulse generator is connected to the electrode wire.

[0188] Processor 720 is configured to obtain postoperative images of the target patient after implantation of the electrode wire, execute the electrode orientation determination method applied to the directional stimulation electrode to determine the orientation of the directional stimulation electrode in the skull of the target user, and display the orientation of the directional stimulation electrode using a display.

[0189] The display 730 is used to display the direction of the directional stimulation electrode.

[0190] The technical solution of the embodiment of the present application is that the medical system includes an implantable medical device, an image processing server and a display. When the medical system is used in a specific application, the processor obtains a brain CT image corresponding to a target user who has at least one directional stimulation electrode implanted in the brain, and a preset identification image slice corresponding to the directional stimulation electrode, wherein the preset identification image slice includes a preset identification orientation vector corresponding to the directional identification, and then, based on the target trajectory information of the directional stimulation electrode in the brain CT image, the target identification image slice containing the directional identification image is determined from the brain CT image, and further, the target identification image slice is matched with the preset identification image slice, and the preset identification orientation vector corresponding to the matching preset identification image slice is determined as the directional identification orientation of the directional stimulation electrode implanted in the brain, so that the orientation of the directional stimulation electrode can be displayed in the display. The technical solution of this embodiment can automatically identify the directional identification orientation according to the postoperative CT scan results of the target user and the standard identification imaging results, thereby improving the discrimination accuracy and efficiency of the directional identification orientation of the directional stimulation electrode, thereby improving the objectivity, accuracy and real-time performance of the segmented electrode orientation recognition results.

[0191] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining electrode orientation for a directional stimulation electrode, characterized in that: The directional stimulation electrode includes a direction mark and at least two segment electrodes, and the relative position relationship between the direction mark and each of the segment electrodes is fixed, including: Acquire a brain CT image corresponding to a target user having at least one directional stimulation electrode implanted in the brain, and a preset identification image slice corresponding to the directional stimulation electrode; wherein the preset identification image slice includes a preset identification orientation vector corresponding to the directional identification; Based on the target trajectory information of the directional stimulation electrode in the brain CT image, determining a target identification image slice including a direction identification image from the brain CT image; The target identification image slice is matched with the preset identification image slice, and the preset identification orientation vector corresponding to the preset identification image slice that matches consistently is determined as the directional identification orientation of the directional stimulation electrode implanted in the brain.

2. The method according to claim 1, characterized in that The method further includes: determining a preset marked image slice corresponding to the directional stimulation electrode, including: According to the electrode implantation plan, the directional stimulation electrode is implanted into a preset skull mold, and a skull mold CT image corresponding to the preset skull mold is scanned; Based on the electrode track information of the directional stimulation electrode in the skull mold CT image, determining a to-be-used marker image slice containing a directional marker image from the skull mold CT image; Performing direction identification labeling processing on the to-be-used identification image slice to determine a preset identification orientation vector of the direction identification in the to-be-used identification image slice; The to-be-used identification image slice containing the preset identification orientation vector is determined as the preset identification image slice corresponding to the directional stimulation electrode.

3. The method according to claim 2, characterized in that The method of determining a to-be-used marker image slice containing a directional marker image from the skull mold CT image based on the electrode track information of the directional stimulation electrode in the skull mold CT image comprises: Based on the electrode trajectory information of the directional stimulation electrode in the skull mold CT image and the calibrated distance between the most ventral contact corresponding to the directional stimulation electrode and the direction marker, a stand-by marker image slice containing the direction marker image is determined from the multi-layer skull mold CT image slices in the skull mold CT image.

4. The method according to claim 2, characterized in that: The step of determining a to-be-used marker image slice containing a directional marker image from the skull mold CT image based on the trajectory information of the directional stimulation electrode in the skull mold CT image comprises: Extracting electrode trajectory coordinate data corresponding to the directional stimulation electrode from the skull mold CT image; Based on the electrode trajectory coordinate data, determining the antinode position coordinates corresponding to the most ventral contact point of the directional stimulation electrode and the electrode fitting straight line corresponding to the directional stimulation electrode; Determine the marker position coordinates of the direction marker in the skull mold CT image based on the anti-node position coordinates and the calibrated distance between the most ventral contact point and the direction marker; Determine, from the skull mold CT image, a mold CT image slice in a plane with the marker position coordinates as the center and perpendicular to the electrode fitting straight line; Based on the preset radius parameter, a circular CT image slice is intercepted from the mold CT image slice, and the circular CT image slice is determined as a stand-by identification image slice containing a direction identification image.

5. The method according to claim 1, characterized in that: The step of determining a target identification image slice including a direction identification image from the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image comprises: Based on the target trajectory information of the directional stimulation electrode in the brain CT image and the calibrated distance between the most ventral contact point corresponding to the directional stimulation electrode and the direction marker, a target marker image slice containing the direction marker image is determined from the multi-layer brain CT image slices in the brain CT image.

6. The method according to claim 1, characterized in that The step of determining a target identification image slice including a direction identification image from the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image comprises: Extracting target electrode trajectory coordinate data corresponding to the directional stimulation electrode from the brain CT image; Based on the target electrode trajectory coordinate data, determining the target antinode position coordinates corresponding to the most ventral contact point of the directional stimulation electrode and the target electrode fitting straight line corresponding to the directional stimulation electrode; Determining the target marker position coordinates of the direction marker in the brain CT image based on the target anti-point position coordinates and the calibrated distance between the most ventral contact point and the direction marker; Determine from the brain CT image a brain CT image slice in a plane perpendicular to the target electrode fitting straight line with the target marker position coordinates; Based on a preset radius parameter, a target circular CT image slice is intercepted from the brain CT image slice, and the target circular CT image slice is determined as a target identification image slice including a direction identification image.

7. The method according to claim 1, characterized in that The step of matching the target identification image slice with the preset identification image slice, and determining the preset identification orientation vector corresponding to the preset identification image slice that matches consistently as the directional identification orientation of the directional stimulation electrode implanted in the brain, comprises: The preset identification orientation vector of the preset identification image slice is adjusted to the preset direction of the current view, the target identification image slice is controlled to perform a circular rotation on the preset identification image slice, and the difference between the target identification image slice and the preset identification image slice is determined during the rotation process; wherein the center points of the target identification image slice and the preset identification image slice are both image data corresponding to the direction identification, and the sizes of the two are consistent; Based on each of the difference degrees and the accumulated rotation angle of the target marker image slice, the directional marker orientation of the directional stimulation electrode implanted in the brain is determined.

8. The method according to claim 7, characterized in that The step of adjusting the preset identification orientation vector of the preset identification image slice to a preset direction of the current view, controlling the target identification image slice to perform a circular rotation on the preset identification image slice, and determining the difference between the target identification image slice and the preset identification image slice during the rotation process includes: The preset identification orientation vector of the preset identification image slice is adjusted to the preset direction of the current view, and the preset identification image slice and the target identification image slice are overlapped based on the center point; The target identification image slice is controlled to rotate on the preset identification image slice based on the rotation axis at the center point according to a preset angle step, and the difference between the target identification image slice and the preset identification image slice is determined after each rotation.

9. The method according to claim 8, characterized in that The determining of the difference between the target identification image slice and the preset identification image slice comprises: Based on the pixel difference between the target identification image slice and the preset identification image slice at each pixel position, the difference between the target identification image slice and the preset identification image slice is determined.

10. The method according to claim 7, characterized in that The step of determining the direction identification orientation of the directional stimulation electrode implanted in the brain based on the difference degrees and the cumulative rotation angle of the target identification image slice includes: Based on each of the difference degrees and the accumulated rotation angle of the target identification image slice, a mapping function between the difference degree and the rotation angle is constructed; Based on the mapping function, determining a target cumulative rotation angle when the difference satisfies a preset condition; At an initial moment when the target identification image slice and the preset identification image slice overlap, determining a mapping vector of the preset identification orientation vector on the preset identification image slice on the target identification image slice, so as to determine the mapping vector as an initial reference direction; In the target identification image slice, the target orientation vector of the direction identification is determined in the direction of the target cumulative rotation angle relative to the initial reference direction, so as to determine the direction indicated by the target orientation vector as the direction identification orientation of the directional stimulation electrode implanted in the brain.

11. The method according to claim 1, characterized in that: The method further comprises: Based on the orientation of the direction mark of the directional stimulation electrode implanted in the brain and the relative position relationship between the direction mark and each of the segmented electrodes, the segmented electrode orientation vector of each of the segmented electrodes in the three-dimensional brain space formed by the brain CT image is determined.

12. An electrode orientation determination device for a directional stimulation electrode, characterized in that: The directional stimulation electrode includes a direction mark and at least two segment electrodes, and the relative position relationship between the direction mark and each of the segment electrodes is fixed. The device includes: A CT image acquisition module, used to acquire a brain CT image corresponding to a target user having at least one directional stimulation electrode implanted in the brain, and a preset marked image slice corresponding to the directional stimulation electrode; wherein the preset marked image slice includes a preset marked orientation vector corresponding to the directional mark; An image slice determination module, configured to determine a target identification image slice including a direction identification image from the brain CT image based on target trajectory information of the directional stimulation electrode in the brain CT image; The identification direction determination module is used to match the target identification image slice with the preset identification image slice, and determine the preset identification direction vector corresponding to the matching preset identification image slice as the directional identification direction of the directional stimulation electrode implanted in the brain.

13. A medical system, characterized in that: The medical system includes: An implantable medical device, the implantable medical device at least comprising a pulse generator implanted in a target user's body and an electrode wire implanted in the target user's skull, the implanted end of the electrode wire being provided with at least a plurality of directional electrodes and a direction mark, the pulse generator being connected to the electrode wire; A processor configured to obtain a postoperative image of the target patient after implantation of the electrode wire, execute the electrode orientation determination method applied to the directional stimulation electrode according to any one of claims 1 to 11 to determine the orientation of the directional stimulation electrode in the skull of the target user, and display the orientation of the directional stimulation electrode using a display; A display is used to display the direction of the directional stimulation electrode.

14. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the electrode orientation determination method applied to a directional stimulation electrode according to any one of claims 1 to 11.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the electrode orientation determination method for a directional stimulation electrode according to any one of claims 1 to 11 when executed.

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