Surgical planning equipment, medical systems and storage media

Abstract

The present application provides a surgical planning method, device, medical system, and computer-readable storage medium, the method comprising: obtaining medical imaging data of a patient's skull and a three-dimensional model of a medical device; performing three-dimensional skull reconstruction based on the medical imaging data to obtain a three-dimensional skull model of the patient; screening the implantation position of the medical device to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process; selecting one from all candidate positions as the optimal implantation position for the medical device based on the screening information of each candidate position; generating a first prompt message and sending it to the doctor's terminal device, the first prompt message being used to indicate the optimal implantation position. The present application can achieve individualized implantation position screening and planning, thereby reducing surgical risks.

Description

Technical Field

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

[0002] In the surgical treatment plan for some diseases, medical devices are implanted in the head. In order to reduce the surgical risks brought by this procedure, and at the same time consider the scalp tension caused by the large implant volume, as well as the aesthetic effect after suturing, it is necessary to screen the patient group before surgery. If the patient is suitable for implantation, the implantation location can be further planned.

[0003] The traditional surgical process involves doctors initially determining the patient's suitability for the implant based on preoperative imaging data and their own experience. If appropriate, they then select a rough area for skull resection or bone resection before implanting the medical device. This is a relatively time-consuming procedure. Furthermore, due to individual differences in skull bones, the implanted device can easily fail to fit as well as expected, impacting the overall implant outcome and potentially hindering subsequent wound healing.

[0004] Based on this, the present application provides a surgical planning device, a medical system, and a computer-readable storage medium to improve related technologies. Summary of the Invention

[0005] The purpose of this application is to provide a surgical planning device, a medical system and a computer-readable storage medium to achieve individualized implant location screening and planning and reduce surgical risks.

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

[0007] In a first aspect, the present application provides a surgical planning method, the method comprising:

[0008] Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device;

[0009] Performing three-dimensional skull reconstruction based on the medical imaging data to obtain a three-dimensional skull model of the patient;

[0010] Screening the implantation position of the medical device based on the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening;

[0011] When the candidate position set includes at least one candidate position, selecting one of all the candidate positions as the optimal implantation position of the medical device according to screening information of each candidate position;

[0012] A first prompt message is generated and sent to a doctor's terminal device, where the first prompt message is used to indicate the optimal implantation position.

[0013] The beneficial effect of this technical solution is that by obtaining medical imaging data of the patient's skull and a three-dimensional model of the medical device, and performing three-dimensional reconstruction of the skull based on the medical imaging data, it is possible to more accurately understand the anatomical structure of the head of each patient, thereby achieving individualized implant position screening and planning. Specifically, doctors can simulate and plan before surgery, perform surgical simulation operations based on the three-dimensional model of the skull and the three-dimensional model of the device, and select the best implant position, thereby reducing surgical risks and improving surgical success rates. When screening the set of alternative positions, the collision between the medical device and the relevant surface of the skull is taken into account, avoiding unnecessary intervention and adjustment during the implantation process, and further reducing surgical risks. Due to the existence of preoperative simulation and planning, it is no longer necessary to perform large-scale skull resection or bone groove grinding on the patient's head during surgery, which can reduce surgical time and trauma. By selecting the optimal implantation position, the medical device fits better with the skull, improving the implantation effect, and facilitating subsequent wound healing and patient recovery.

[0014] In summary, three-dimensional reconstruction and preoperative simulation provide doctors with a more scientific and accurate surgical planning method, which can significantly reduce surgical risks, improve surgical effects, and have a positive impact on patients' treatment outcomes and recovery.

[0015] In some optional embodiments, the method further includes: when the set of candidate positions is empty, generating a second prompt message and sending it to the terminal device, wherein the second prompt message is used to indicate that the patient is not suitable for implant surgery.

[0016] The beneficial effect of this technical solution is that implant surgery is a major decision for patients. If they are not suitable for the surgery, it may lead to surgical failure, complications or difficulty in recovery. By informing doctors and patients that the implant is not suitable through the second prompt information, unnecessary surgery can be avoided, saving resources and time. By reducing unnecessary surgeries, doctors can focus more energy and resources on patients who are suitable for surgery, thereby improving the quality of medical care and the success rate of surgery. Specifically, by screening the patient population before surgery, if the set of alternative locations is empty, it can be accurately indicated that the patient is not suitable for the implantation of the medical device, thus avoiding unnecessary surgical risks and the adverse consequences that the patient may face.

[0017] In summary, through individualized patient screening and evaluation of alternative locations before surgery, not only can the success and safety of the operation be ensured, but also unnecessary surgery can be avoided, the quality of medical care can be improved, and patient satisfaction with medical services can be increased. It provides doctors with more accurate decision-making basis and has a significant positive impact on patients' treatment outcomes and overall medical experience.

[0018] In some optional embodiments, the three-dimensional model of the device has an upper surface and a lower surface that are opposite to each other, and the three-dimensional model of the skull has an inner skull surface and an outer skull surface that are opposite to each other;

[0019] The step of selecting one of the candidate positions as the optimal implantation position of the medical device from all the candidate positions according to the screening information of each candidate position includes:

[0020] Calculating an implant score corresponding to each candidate position based on screening information of each candidate position, wherein the screening information includes: a distance between the candidate position and a preset reference plane, the reference plane including any one of the following: an inner surface of the skull, an outer surface of the skull, and a central plane of the skull;

[0021] The candidate position with the highest implantation score is determined as the optimal implantation position for the medical device.

[0022] The beneficial effect of this technical solution is that by calculating the implantation score corresponding to each alternative position and combining it with screening information such as the distance between the alternative position and the preset reference plane, the implantation depth of each alternative position can be objectively evaluated. This quantitative evaluation method can help doctors make more accurate decisions and select the best implantation position. Specifically, when calculating the implantation score, multiple factors are taken into account, such as the distance between the alternative position and the inner and outer surfaces of the skull and the central plane of the skull, and information on the internal and external structures of the skull is integrated. Such a comprehensive evaluation can more comprehensively consider individual patient differences and surgical needs, thereby improving the success rate of the operation. By selecting the alternative position with the highest implantation score as the optimal implantation position, it can be ensured that the medical device is neither too protruding nor pressing downward on the brain tissue, reducing the risk of discomfort or complications after implantation. By using the implantation score to assist in preoperative planning, doctors can better understand the differences between alternative positions and choose the most appropriate position for surgery. This helps to improve surgical efficiency, reduce operation time and unnecessary interventions.

[0023] In some optional embodiments, the collision screening process includes:

[0024] Detecting whether each region point in the three-dimensional skull model satisfies a collision constraint condition;

[0025] Putting the regional points that meet the collision constraint conditions into the candidate position set;

[0026] The collision constraints include:

[0027] After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is not higher than the preset surface, and the lower surface of the medical device is not lower than the inner surface of the skull, wherein the preset surface is the surface on the outside of the skull that is a preset distance away from the outer surface of the skull.

[0028] The beneficial effect of this technical solution is that by testing the collision constraints of each regional point in the three-dimensional skull model, it can be ensured that the medical device will not collide with the corresponding surface of the skull after being implanted in the patient's brain. The collision constraints mainly include two aspects: first, the upper surface of the medical device is not higher than the preset surface, which can avoid discomfort and complications caused by excessive protrusion of the medical device; second, the lower surface of the medical device is not lower than the inner surface of the skull, which can prevent the medical device from pressing down on the brain tissue. By testing each regional point in the three-dimensional skull model, only regional points that meet the collision constraints are placed in the set of alternative positions, thus ensuring the safety and rationality of the alternative positions.

[0029] In summary, collision screening ensures a safe distance between medical devices and brain tissue during implantation, prevents collisions and injuries, and helps improve the safety, success rate, and postoperative recovery of patients. It also provides doctors with a more reliable basis for surgical decision-making and improves the accuracy and effectiveness of surgical planning.

[0030] In some optional embodiments, detecting whether each region point in the three-dimensional skull model satisfies a collision constraint condition includes:

[0031] Acquire a first target point corresponding to each region point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the region point;

[0032] For each first target point, perform the following processing:

[0033] Setting the three-dimensional device model so that a first reference point of a lower surface of the three-dimensional device model coincides with the first target point, a section of the lower surface of the three-dimensional device model at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line;

[0034] If the three-dimensional model of the device does not collide with the preset surface, determining whether the area point corresponding to the first target point satisfies the collision constraint condition;

[0035] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0036] This technical solution has the beneficial effect of obtaining the first target point corresponding to each region point, determining the point on the inner surface of the skull closest to that region point, which serves as the basis for determining collision constraints. For each first target point, the position of the three-dimensional device model is adjusted so that the first reference point on the lower surface of the medical device coincides with the first target point, and the cross-section of the lower surface of the medical device at that point is coplanar with the cross-section of the inner surface of the skull at that point. Furthermore, the reference line of the medical device is parallel to the midsagittal line. After the position of the lower surface of the three-dimensional device model is set, the upper surface of the three-dimensional device model is tested for collision with the preset surface of the three-dimensional skull model. If the upper surface of the three-dimensional device model does not collide with the preset surface, the region point corresponding to the first target point satisfies the collision constraints and can be selected as an alternative location. If the upper surface of the three-dimensional device model collides with the preset surface, the region point corresponding to the first target point does not meet the collision constraints and needs to be eliminated. In summary, by accurately setting the three-dimensional device model and combining collision determination with the preset surface, the collision situation of alternative locations can be accurately assessed, providing a reliable basis for formulating surgical plans. Through collision screening, the conditions of device shape, skull structure and preset surface are comprehensively considered, which improves the accuracy and reliability of implant position screening. Implant positions that collide with the inside of the skull can be excluded, ensuring the safety and stability of the operation.

[0037] In some optional embodiments, detecting whether each region point in the three-dimensional skull model satisfies a collision constraint condition includes:

[0038] Acquire a second target point corresponding to each region point, where the second target point is a point on the three-dimensional skull model on the preset surface that is closest to the region point;

[0039] For each second target point, perform the following processing:

[0040] Setting the three-dimensional device model so that a second reference point on the upper surface of the three-dimensional device model coincides with the second target point, a section of the upper surface of the three-dimensional device model at the second reference point is coplanar with a section of the outer surface of the skull at the second target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line;

[0041] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0042] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0043] This technical solution has the beneficial effect of obtaining the second target point corresponding to each region point, determining the point on the pre-set surface of the three-dimensional skull model closest to that region point, which serves as the basis for determining collision constraints. For each second target point, the position of the three-dimensional device model is adjusted so that the second reference point on the upper surface of the medical device coincides with the second target point, and the section of the upper surface of the medical device at that point is coplanar with the section of the pre-set surface at that point, with the reference line of the medical device parallel to the midsagittal line. After the position of the upper surface of the three-dimensional device model is set, the lower surface of the three-dimensional device model is tested for collision with the inner surface of the skull of the three-dimensional skull model. If the lower surface of the three-dimensional device model does not collide with the inner surface of the skull, the region point corresponding to the second target point satisfies the collision constraint and can be selected as an alternative location. If the lower surface of the three-dimensional device model collides with the inner surface of the skull, the region point corresponding to the second target point does not meet the collision constraint and needs to be eliminated. In summary, by accurately setting the three-dimensional device model and combining it with collision determination based on the pre-set surface, the collision situation of alternative locations can be accurately assessed, providing a reliable basis for formulating surgical plans. Through collision screening, the conditions of device shape, skull structure and preset surface are comprehensively considered, which improves the accuracy and reliability of implant position screening. Implant positions that collide with the inside of the skull can be excluded, ensuring the safety and stability of the operation.

[0044] In some optional embodiments, the screening method further includes fit screening, and the fit screening process includes:

[0045] For each region point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the region point;

[0046] The regional points whose fit degree is less than the preset fit degree are removed from the candidate position set.

[0047] The beneficial effect of this technical solution is that fit screening is an evaluation process for each regional point in the set of alternative positions, which is used to exclude positions that do not meet the fit requirements. Specifically, for each regional point, the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at that point is calculated. The fit can be calculated using various evaluation methods and indicators, such as contour similarity, minimum distance, curvature matching, etc. According to the preset fit requirements, find the regional points whose fit is less than the preset fit, and eliminate them from the set of alternative positions. The purpose of fit screening is to ensure the degree of match between the upper surface of the device and the outer surface of the skull at the alternative position, thereby reducing scalp tension after surgery and improving the aesthetic effect after suturing. Through fit screening, alternative positions with higher fit with the outer surface of the skull can be selected to ensure the fit stability between the medical device and the skull, and improve the success rate of the operation and patient satisfaction.

[0048] In some optional embodiments, calculating the degree of fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point includes:

[0049] Obtaining a first projection point and a second projection point corresponding to each region point, respectively, where the first projection point is the point on the outer surface of the skull closest to the region point, and the second projection point is the point on the upper surface of the three-dimensional model of the device closest to the region point;

[0050] calculating a curvature difference between a curvature of an outer surface of the skull at the first projection point and a curvature of an upper surface of the device three-dimensional model at the second projection point;

[0051] The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the regional point is obtained according to the curvature difference.

[0052] The beneficial effect of this technical solution is that by obtaining the first and second projection points corresponding to the regional point and calculating the difference between the curvature of the skull's outer surface at the first projection point and the curvature of the upper surface of the device's three-dimensional model at the second projection point, the fit of the medical device to the skull can be objectively assessed. The curvature difference reflects the difference in the degree of concavity and convexity between the two surfaces, with a smaller difference indicating a better fit. The curvature difference provides an objective and quantitative assessment of the fit between the upper surface of the device and the outer surface of the skull, providing doctors with reliable data support to help determine the optimal implant location.

[0053] In summary, calculating the curvature difference and performing multi-point assessments can more accurately assess the fit between the upper surface of the device and the outer surface of the skull, providing doctors with a more reliable basis for surgical decision-making, ensuring a high degree of fit at the implant location, and improving surgical outcomes and patient satisfaction. This also helps avoid potential discomfort or complications during implantation, enhancing surgical safety and success rates.

[0054] In a second aspect, the present application provides a surgical planning device, comprising a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the following steps when executing the computer program:

[0055] Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device;

[0056] Performing three-dimensional skull reconstruction based on the medical imaging data to obtain a three-dimensional skull model of the patient;

[0057] Screening the implantation position of the medical device based on the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening;

[0058] When the candidate position set includes at least one candidate position, selecting one of all the candidate positions as the optimal implantation position of the medical device according to screening information of each candidate position;

[0059] A first prompt message is generated and sent to a doctor's terminal device, where the first prompt message is used to indicate the optimal implantation position.

[0060] In some optional embodiments, the at least one processor is further configured to implement the following steps when executing the computer program:

[0061] When the candidate position set is empty, second prompt information is generated and sent to the terminal device, where the second prompt information is used to indicate that the patient is not suitable for implant surgery.

[0062] In some optional embodiments, the three-dimensional model of the device has an upper surface and a lower surface that are opposite to each other, and the three-dimensional model of the skull has an inner skull surface and an outer skull surface that are opposite to each other;

[0063] The at least one processor is configured to, when executing the computer program, select one of all candidate positions as the optimal implantation position of the medical device based on the screening information of each candidate position in the following manner:

[0064] Calculating an implant score corresponding to each candidate position based on screening information of each candidate position, wherein the screening information includes: a distance between the candidate position and a preset reference plane, the reference plane including any one of the following: an inner surface of the skull, an outer surface of the skull, and a central plane of the skull;

[0065] The candidate position with the highest implantation score is determined as the optimal implantation position for the medical device.

[0066] In some optional embodiments, the at least one processor is configured to perform collision screening in the following manner when executing the computer program:

[0067] Detecting whether each region point in the three-dimensional skull model satisfies a collision constraint condition;

[0068] Putting the regional points that meet the collision constraint conditions into the candidate position set;

[0069] The collision constraints include:

[0070] After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is not higher than the preset surface, and the lower surface of the medical device is not lower than the inner surface of the skull, wherein the preset surface is the surface on the outside of the skull that is a preset distance away from the outer surface of the skull.

[0071] In some optional embodiments, the at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies the collision constraint condition in the following manner when executing the computer program:

[0072] Acquire a first target point corresponding to each region point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the region point;

[0073] For each first target point, perform the following processing:

[0074] Setting the three-dimensional device model so that a first reference point of a lower surface of the three-dimensional device model coincides with the first target point, a section of the lower surface of the three-dimensional device model at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line;

[0075] If the three-dimensional model of the device does not collide with the preset surface, determining whether the area point corresponding to the first target point satisfies the collision constraint condition;

[0076] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0077] In some optional embodiments, the at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies the collision constraint condition in the following manner when executing the computer program:

[0078] Acquire a second target point corresponding to each region point, where the second target point is a point on the three-dimensional skull model on the preset surface that is closest to the region point;

[0079] For each second target point, perform the following processing:

[0080] Setting the three-dimensional device model so that a second reference point on the upper surface of the three-dimensional device model coincides with the second target point, a section of the upper surface of the three-dimensional device model at the second reference point is coplanar with a section of the outer surface of the skull at the second target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line;

[0081] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0082] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0083] In some optional embodiments, the screening method further includes fit screening, and the at least one processor is configured to perform fit screening in the following manner when executing the computer program:

[0084] For each region point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the region point;

[0085] The regional points whose fit degree is less than the preset fit degree are removed from the candidate position set.

[0086] In some optional embodiments, the at least one processor is configured to calculate the degree of fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point in the following manner when executing the computer program:

[0087] Obtaining a first projection point and a second projection point corresponding to each region point, respectively, where the first projection point is the point on the outer surface of the skull closest to the region point, and the second projection point is the point on the upper surface of the three-dimensional model of the device closest to the region point;

[0088] calculating a curvature difference between a curvature of an outer surface of the skull at the first projection point and a curvature of an upper surface of the device three-dimensional model at the second projection point;

[0089] The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the regional point is obtained according to the curvature difference.

[0090] In a third aspect, the present application provides a medical system, comprising a medical device and any one of the above-mentioned surgical planning devices, wherein the medical device is used to be implanted into a patient's brain.

[0091] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, which, when executed by at least one processor, implements the steps of any of the above methods or implements the functions of any of the above surgical planning devices.

[0092] In a fifth aspect, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by at least one processor, it implements the steps of any of the above methods or implements the functions of any of the above surgical planning devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] The present application is further described below with reference to the accompanying drawings and implementation methods.

[0094] Figure 1 It is a flowchart of a surgical planning method provided in an embodiment of the present application.

[0095] Figure 2 This is a flowchart of another surgical planning method provided in an embodiment of the present application.

[0096] Figure 3 This is a flowchart of a collision screening process provided in an embodiment of the present application.

[0097] Figure 4 This is a schematic diagram of the principle of detecting whether a point in a region satisfies a collision constraint condition, provided in an embodiment of the present application.

[0098] Figure 5 This is a schematic diagram of another principle for detecting whether a point in a region satisfies a collision constraint condition, provided in an embodiment of the present application.

[0099] Figure 6 This is a flow chart of a fit screening process provided in an embodiment of the present application.

[0100] Figure 7 This is a schematic diagram of the principle of fit screening provided in an embodiment of the present application.

[0101] Figure 8 This is a flow chart of another method for screening the degree of fit provided in an embodiment of the present application.

[0102] Figure 9 This is a structural block diagram of a surgical planning device provided in an embodiment of the present application.

[0103] Figure 10 It is a structural diagram of a program product provided in an embodiment of the present application. DETAILED DESCRIPTION

[0104] The technical solutions in this application will be described below in conjunction with the accompanying drawings and specific implementation methods of this application. It should be noted that, under the premise of no conflict, the various implementation methods or technical features described below can be arbitrarily combined to form a new implementation method.

[0105] In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can represent: a, b, c, a and b, a and c, b and c, a and b and c, where a, b and c can be single or multiple. It is worth noting that "at least one" can also be interpreted as "one or more items".

[0106] It should also be noted that in the examples of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any implementation or design described as "exemplary" or "for example" in the examples of this application should not be interpreted as being preferred or advantageous over other implementations or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0107] Below, we first briefly describe one of the application fields of this application (i.e., implantable neurostimulator).

[0108] Implantable medical systems include implantable neurostimulation systems, implantable cardiac stimulation systems (also known as pacemakers), implantable drug delivery systems (IDDS), and lead adapter systems. Examples of implantable neurostimulation systems include deep brain stimulation (DBS), cortical nerve stimulation (CNS), spinal cord stimulation (SCS), sacral nerve stimulation (SNS), and vagus nerve stimulation (VNS).

[0109] An implantable neurostimulation system includes a stimulator (i.e., an implantable neurostimulator, a type of neurostimulation device) implanted in the patient's body and a programmable device located outside the patient's body. In other words, the stimulator is an implant, or rather, the implant includes the stimulator. Related neuromodulation technologies primarily involve implanting electrodes (e.g., in the form of electrode leads) at specific locations (i.e., target sites) within a biological tissue through stereotactic surgery. These electrodes transmit electrical pulses to the target sites, modulating the electrical activity and function of the corresponding neural structures and networks, thereby improving symptoms and alleviating pain. The stimulator can include an implantable pulse generator (IPG), extension leads, and electrode leads. The IPG (implantable pulse generator) is located within the patient's body and, in response to programmable instructions from the programmable device, relies on a sealed battery and circuitry to provide controllable electrical stimulation energy to tissues within the body. The IPG delivers one or more specific, controllable electrical stimulation pathways to specific areas of tissue within the body via the extension leads and electrode leads. The extension leads, used in conjunction with the IPG, serve as a transmission medium for electrical stimulation signals, transmitting the electrical stimulation signals generated by the IPG to the electrode leads. The electrode leads deliver electrical stimulation to specific areas of tissue within the body through multiple electrode contacts. The stimulator is provided with one or more electrode wires on one or both sides, and a plurality of electrode contacts are provided on the electrode wires. The electrode contacts can be arranged evenly or unevenly around the circumference of the electrode wire. As an example, the electrode contacts can be arranged around the circumference of the electrode wire in an array of 4 rows and 3 columns (a total of 12 electrode contacts). The electrode contacts can include stimulation electrode contacts and / or collection electrode contacts. The electrode contacts can be in the form of sheets, rings, dots, etc.

[0110] In other embodiments, the stimulator includes only a pulse generator and electrode leads, wherein the pulse generator is embedded in the patient's skull and the electrode leads are implanted in the patient's skull. In this case, the pulse generator and the electrode leads are directly connected without the need for extension leads.

[0111] As an example, DBS includes an implantable pulse generator (IPG), an extension lead, and an electrode lead. The IPG is connected to the electrode lead via the extension lead. The IPG is implanted in the patient's body, for example, in the patient's chest or other internal body parts.

[0112] As another example, DBS includes an IPG and an electrode lead, with the IPG directly connected to the electrode lead. The IPG is implanted in the patient's head, for example, by making a groove in the patient's skull and then installing the IPG in the groove. In this case, the IPG may not protrude from the outer surface of the skull, or it may partially protrude from the outer surface of the skull.

[0113] In some embodiments, the stimulated body tissue may be the patient's brain tissue, and the stimulated site may be a specific site of the brain tissue. When the patient's disease type is different, the stimulated site is generally different, and the number of stimulation contacts (single source or multiple sources) used, the use of one or more (single channel or multiple channels) specific electrical stimulation signals, and the stimulation parameter data are also different. The embodiments of the present application do not limit the applicable disease types, which may be disease types applicable to deep brain stimulation (DBS), spinal cord stimulation (SCS), pelvic stimulation, gastric stimulation, peripheral nerve stimulation, and functional electrical stimulation. Among them, the types of diseases that DBS can be used to treat or manage include, but are not limited to: spastic disorders (e.g., epilepsy), pain, migraine, psychiatric disorders (e.g., major depressive disorder (MDD)), bipolar disorder, anxiety disorders, post-traumatic stress disorder, hypomuch like, obsessive-compulsive disorder (OCD), behavioral disorders, mood disorders, memory disorders, mental state disorders, movement disorders (e.g., essential tremor or Parkinson's disease), Huntington's disease, Alzheimer's disease, drug addiction, autism or other neurological or psychiatric diseases and injuries.

[0114] In an embodiment of the present application, when a programmable connection is established between a programmable device and a stimulator, the programmable device can be used to adjust the stimulation parameters of the stimulator (or the stimulation parameters of the pulse generator, different stimulation parameters correspond to different electrical stimulation signals), or the stimulator can be used to sense the patient's electrophysiological activities to collect electrophysiological signals, and the collected electrophysiological signals can be used to further adjust the stimulation parameters of the stimulator.

[0115] The stimulation parameters of the electrical stimulation signal may include frequency (for example, the number of electrical stimulation pulse signals within a unit time of 1s, in Hz), pulse width (duration of each pulse, in μs), and amplitude (generally expressed in voltage, that is, the intensity of each pulse, in V), timing (for example, it can be continuous or triggered), stimulation mode (including one or more of current mode, voltage mode, timed stimulation mode and cyclic stimulation mode), doctor-controlled upper and lower limits (range adjustable by the doctor) and patient-controlled upper and lower limits (range adjustable by the patient). Any one or more of them. In specific applications, the stimulation parameters of the stimulator can be adjusted in current mode or voltage mode.

[0116] The programmable device can be a doctor's programmer (i.e., a programmer used by a doctor) or a patient's programmer (i.e., a programmer used by a patient). A doctor's programmer can be, for example, a tablet computer, laptop computer, desktop computer, mobile phone, or other intelligent terminal device equipped with programming software. A patient's programmer can also be another electronic device with programmable functionality (e.g., a charger or data acquisition device).

[0117] This application does not restrict the data interaction between the doctor programmer and the stimulator. When the doctor is remotely programming, the doctor programmer can exchange data with the stimulator through the server and the patient programmer. When the doctor is offline and programming with the patient face to face, the doctor programmer can exchange data with the stimulator through the patient programmer, and the doctor programmer can also directly interact with the stimulator.

[0118] The patient programmer may include a host computer that communicates with the server and a slave computer that communicates with the stimulator, and the host computer and the slave computer are communicably connected. The doctor programmer may exchange data with the server via a 3G / 4G / 5G network, the server may exchange data with the host computer via a 3G / 4G / 5G network, the host may exchange data with the slave computer via a Bluetooth protocol / WIFI protocol / USB protocol, the slave computer may exchange data with the stimulator via a 401MHz-406MHz operating frequency band / 2.4GHz-2.48GHz operating frequency band, and the doctor programmer may directly exchange data with the stimulator via a 401MHz-406MHz operating frequency band / 2.4GHz-2.48GHz operating frequency band.

[0119] In the surgical treatment plan for some diseases, medical devices are implanted in the head. In order to reduce the surgical risks brought by this procedure, and at the same time consider the scalp tension caused by the large implant volume, as well as the aesthetic effect after suturing, it is necessary to screen the patient group before surgery. If the patient is suitable for implantation, the implantation location can be further planned.

[0120] The traditional surgical process involves doctors initially determining the patient's suitability for the implant based on preoperative imaging data and their own experience. If appropriate, they then select a rough area for skull resection or bone resection before implanting the medical device. This is a relatively time-consuming procedure. Furthermore, due to individual differences in skull bones, the implanted device can easily fail to fit as well as expected, impacting the overall implant outcome and potentially hindering subsequent wound healing.

[0121] An example of a medical device is a stimulator implanted in the skull. Taking into account factors such as the curvature of the skull at the implantation location and the extent of bone resection, the stimulator is designed with a certain curvature to achieve the best fit after implantation. Currently, the parietal and occipital bones are commonly used for stimulator implantation. Typically, the neurosurgeon compares the patient's skull shape with the stimulator's shape during surgery, selects a rough range, and performs a craniectomy, resecting the skull while fitting the stimulator's shape. This approach can prolong the operation. More importantly, due to individual differences, this fit is often not achieved in actual clinical applications, resulting in one portion of the stimulator fitting well with the skull, while another portion is tilted upward and protruding from the skull surface. Ultimately, the doctor can only compromise by selecting an implant location, curvature, and angle for fixation. This situation is often prone to clinical complications, such as abnormal appearance of the patient's head after skin suture, affecting aesthetics; excessive tension on the sutured skin, leading to poor local skin blood flow and affecting wound healing; and even exposure of the neurostimulator after implantation for a period of time. In addition, a poorly fitted stimulator implant also affects the patient's sleeping position, and the head cannot be tilted to the implanted side.

[0122] Based on this, the present application provides a surgical planning method, device, medical system, computer-readable storage medium and computer program product to improve related technologies.

[0123] Method Example

[0124] See also Figure 1 , Figure 1 It is a flowchart of a surgical planning method provided in an embodiment of the present application.

[0125] The method comprises:

[0126] Step S101: Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device;

[0127] Step S102: performing three-dimensional skull reconstruction based on the medical imaging data to obtain a three-dimensional skull model of the patient;

[0128] Step S103: Screening the implantation position of the medical device based on the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening;

[0129] Step S104: when the candidate position set includes at least one candidate position, selecting one of all candidate positions as the optimal implantation position of the medical device according to screening information of each candidate position;

[0130] Step S105: Generate a first prompt message and send it to the doctor's terminal device, where the first prompt message is used to indicate the optimal implantation position.

[0131] In one embodiment, the medical device may include a stimulator for implantation in the patient's brain (skull).

[0132] The embodiments of this application do not limit the shape and size of the medical device. The shape of the medical device can be a regular shape such as a circle, an ellipse, a rectangle, or a rounded rectangle. Alternatively, the shape of the medical device can be an irregular shape. For example, the medical device can be a block-shaped rectangular parallelepiped structure (with rounded corners).

[0133] In one embodiment, the medical imaging data may include at least one of the following: CT data, MR data, PET data, X-ray data, PET-CT data, and PET-MR data.

[0134] Specifically, patients can obtain DICOM (Digital Imaging and Communications in Medicine) CT data of tissue images and skull bone window images through a head CT scan. The CT data here can be burned onto a CD for backup. Of course, MRI can also be used, but this application is not limited to this.

[0135] In one embodiment, in step S101, the three-dimensional model of the medical device is obtained by:

[0136] Use 3D software to build a 3D model of the medical device, such as CREO, SolidWorks, UG or Pro / E. The 3D model of the same medical device can be backed up and used for different individuals.

[0137] In one embodiment, in step S102, the skull 3D reconstruction method may include:

[0138] Import the patient's medical imaging data into preset software, such as Mimics Medical software, and reconstruct the patient's skull's three-dimensional structure for backup. Specifically, import DICOM data - select the skull threshold range - and build a skull three-dimensional model.

[0139] The embodiments of the present application are not limited to terminal devices. For example, the terminal device may be a smart terminal device with a display and a speaker, such as a mobile phone, a tablet computer, a laptop computer, a desktop computer, or a smart wearable device. Alternatively, the terminal device may be a workstation or a console with a display and a speaker. The display may be a touch screen or a non-touch screen.

[0140] In one embodiment, when the set of alternative positions includes multiple alternative positions, for example, including alternative positions a, b, and c, based on the screening information of each alternative position, alternative position b is selected from all alternative positions as the optimal implantation position, and a corresponding first prompt message is generated and sent to the doctor's mobile phone. The first question is that the information may include the coordinate information of position b.

[0141] As an example, consider a patient who needs a stimulator implant. Here's how the surgical planning process works:

[0142] Doctors use medical imaging techniques such as CT scans or magnetic resonance imaging (MRI) to obtain imaging data of the patient's skull. Medical device manufacturers also provide 3D models of the corresponding medical devices, describing the device's shape, dimensions, and features. Based on the patient's medical imaging data, software is used to perform a 3D skull reconstruction, generating a 3D model of the patient's skull. This model accurately represents the shape and structure of the patient's skull. The 3D device and patient skull models are combined to screen implant locations. This screening process includes thickness screening, collision screening, and fit screening. For example, a thickness range can be pre-set to select only locations that meet the required skull thickness. Furthermore, collision detection can be performed between the upper and lower surfaces of the device and the inner and outer skull surfaces to eliminate potential collisions. Furthermore, the fit between the upper surface of the device and the outer skull surface can be calculated to eliminate locations where the fit falls below a preset value. During this process, each candidate location is provided with corresponding screening information, such as skull thickness, collision distance, and fit. Based on the screening information for each candidate location, a comprehensive assessment of various factors is used to calculate an implant score for each candidate location. For example, a comprehensive implant score can be calculated by assigning appropriate weights to indicators such as thickness, collision risk, and fit. Based on the implant score for each candidate location, the candidate with the highest implant score is selected as the optimal implant location. Once the optimal implant location is selected, its coordinates are automatically sent to the doctor's terminal device, such as a computer or mobile phone, prompting the doctor to make the appropriate decision.

[0143] Therefore, by obtaining medical imaging data of the patient's skull and a three-dimensional model of the medical device, and performing three-dimensional reconstruction of the skull based on the medical imaging data, it is possible to more accurately understand the anatomical structure of each patient's head, thereby achieving individualized implant location screening and planning. Specifically, doctors can simulate and plan before surgery, perform surgical simulation operations based on the three-dimensional skull model and the three-dimensional model of the device, and select the optimal implant location, thereby reducing surgical risks and improving surgical success rates. When screening the set of alternative locations, the collision between the medical device and the relevant surfaces of the skull is taken into account, avoiding unnecessary intervention and adjustments during the implantation process, and further reducing surgical risks. Due to the existence of preoperative simulation and planning, large-scale skull resection or bone groove grinding on the patient's head is no longer required during surgery, which can reduce surgical time and trauma. By selecting the optimal implant location, the medical device fits better with the skull, improving the implant effect and facilitating subsequent wound healing and patient recovery.

[0144] In summary, three-dimensional reconstruction and preoperative simulation provide doctors with a more scientific and accurate surgical planning method, which can significantly reduce surgical risks, improve surgical effects, and have a positive impact on patients' treatment outcomes and recovery.

[0145] See also Figure 2 , Figure 2 This is a flowchart of another surgical planning method provided in an embodiment of the present application.

[0146] In some embodiments, the method further comprises:

[0147] Step S106: When the candidate position set is empty, a second prompt message is generated and sent to the terminal device, where the second prompt message is used to indicate that the patient is not suitable for implant surgery.

[0148] The candidate position set being empty means that there is no candidate position in the candidate position set, that is, after screening, no position suitable for implantation of the medical device is found.

[0149] In one embodiment, the second prompt message is, for example, "This patient is not suitable for implant surgery, please consider other treatment methods."

[0150] Therefore, implant surgery is a major decision for patients. If they are not suitable for the surgery, it may lead to surgical failure, complications or difficulty in recovery. By informing doctors and patients that the implant is not suitable through the second prompt information, unnecessary surgery can be avoided, saving resources and time. By reducing unnecessary surgeries, doctors can focus more energy and resources on patients who are suitable for surgery, thereby improving medical quality and surgical success rates. Specifically, by screening the patient population before surgery, if the set of alternative locations is empty, it can be accurately indicated that the patient is not suitable for medical device implant surgery, thus avoiding unnecessary surgical risks and possible adverse consequences for the patient.

[0151] In summary, through individualized patient screening and evaluation of alternative locations before surgery, not only can the success and safety of the operation be ensured, but also unnecessary surgery can be avoided, the quality of medical care can be improved, and patient satisfaction with medical services can be increased. It provides doctors with more accurate decision-making basis and has a significant positive impact on patients' treatment outcomes and overall medical experience.

[0152] In some optional embodiments, the three-dimensional model of the device has an upper surface and a lower surface that are opposite to each other, and the three-dimensional model of the skull has an inner skull surface and an outer skull surface that are opposite to each other;

[0153] In step S104, based on the screening information of each candidate position, selecting one candidate position from all candidate positions as the optimal implantation position of the medical device includes:

[0154] Calculating an implant score corresponding to each candidate position based on screening information of each candidate position, wherein the screening information includes: a distance between the candidate position and a preset reference plane, the reference plane including any one of the following: an inner surface of the skull, an outer surface of the skull, and a central plane of the skull;

[0155] The candidate position with the highest implantation score is determined as the optimal implantation position for the medical device.

[0156] In one embodiment, the screening method further includes fit screening, and the screening information of each candidate position further includes: the fit between the upper surface of the medical device and the outer surface of the skull at the candidate position.

[0157] Specifically, the reference surface uses the inner surface of the skull, and the process of calculating the implantation score corresponding to each candidate position is as follows:

[0158] For each candidate position, perform the following processing:

[0159] Setting a first weight corresponding to the distance between the candidate position and the reference plane and a second weight corresponding to the degree of fit;

[0160] Obtain a distance score corresponding to the distance between the candidate position and the reference surface and a fit score corresponding to the fit degree;

[0161] The implantation score corresponding to each candidate position is calculated based on the distance score, the fit score, the first weight, and the second weight.

[0162] The closer the distance between the candidate position and the reference surface is to a preset distance range, the higher the distance score is; the higher the fit is, the higher the fit score is. The preset distance range is, for example, 1-4 mm.

[0163] The first weight is, for example, 0.7, and the second weight is, for example, 0.3.

[0164] As an example, after collision screening and fit screening, there are two alternative implantation locations for the stimulator of patient Xiao Zhang (position A and position B).

[0165] Among them, the distance score of position A is 80 points, the fit score is 60 points, and the implantation score is: 80*0.7+60*0.3=74 points.

[0166] The distance score of position B is 80 points, the fit score is 90 points, and the implantation score is: 80*0.7+90*0.3=83 points.

[0167] Position B had the highest implantation score and was selected as the optimal implantation position for the stimulator.

[0168] Therefore, by calculating the implantation score corresponding to each alternative position and combining it with screening information such as the distance between the alternative position and the preset reference plane, the implantation depth of each alternative position can be objectively evaluated. This quantitative assessment method can help doctors make more accurate decisions and select the optimal implantation position. Specifically, when calculating the implantation score, multiple factors are taken into account, such as the distance between the alternative position and the inner and outer surfaces of the skull and the central plane of the skull, integrating information about the internal and external structures of the skull. Such a comprehensive assessment can more comprehensively consider individual patient differences and surgical needs, thereby improving the success rate of the operation. By selecting the alternative position with the highest implantation score as the optimal implantation position, it can be ensured that the medical device is neither too protruding nor pressing downward on the brain tissue, reducing the risk of discomfort or complications after implantation. By using the implantation score to assist in preoperative planning, doctors can better understand the differences between alternative positions and choose the most appropriate position for surgery. This helps to improve surgical efficiency, reduce surgical time and unnecessary interventions.

[0169] In one embodiment, the method further comprises:

[0170] After the medical device is implanted in the patient's brain according to the optimal implantation position, detecting whether the medical device protrudes from the outer surface of the skull;

[0171] If the medical device does not protrude from the outer surface of the skull, biocompatible materials are used to fill the vacant area of ​​the skull after the medical device is implanted compared to the original state of the skull (before surgery), so that the contour of the skull after the medical device is implanted remains consistent with the contour before the implantation surgery.

[0172] See also Figure 3 , Figure 3 This is a flowchart of a collision screening process provided in an embodiment of the present application.

[0173] In some embodiments, the collision screening process in step S103 includes:

[0174] Step S201: detecting whether each region point in the three-dimensional skull model satisfies a collision constraint condition;

[0175] Step S202: putting the regional points that meet the collision constraint conditions into the candidate position set;

[0176] The collision constraints include:

[0177] After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is not higher than the preset surface, and the lower surface of the medical device is not lower than the inner surface of the skull, wherein the preset surface is the surface on the outside of the skull that is a preset distance away from the outer surface of the skull.

[0178] The present embodiment does not limit the preset distance, and the preset distance may be, for example, 1 mm, 2 mm, 3 mm, or 5 mm. The inner surface of the skull is the outer surface of the dura mater.

[0179] In the embodiment of the present application, the regional point is any point located between the inner surface and the outer surface of the skull.

[0180] Therefore, by testing the collision constraints of each regional point in the three-dimensional skull model, it is possible to ensure that the medical device will not collide with the corresponding skull surface after being implanted in the patient's brain. The collision constraints mainly include two aspects: first, the upper surface of the medical device must not be higher than the preset surface, which can avoid discomfort and complications caused by excessive protrusion of the medical device; second, the lower surface of the medical device must not be lower than the inner surface of the skull, which can prevent the medical device from pressing down on brain tissue. By testing each regional point in the three-dimensional skull model, only regional points that meet the collision constraints are placed in the set of alternative positions, thus ensuring the safety and rationality of the alternative positions.

[0181] In summary, collision screening ensures a safe distance between medical devices and brain tissue during implantation, prevents collisions and injuries, and helps improve the safety, success rate, and postoperative recovery of patients. It also provides doctors with a more reliable basis for surgical decision-making and improves the accuracy and effectiveness of surgical planning.

[0182] In some embodiments, the detecting whether each region point in the three-dimensional skull model satisfies a collision constraint condition (step S201 ) includes:

[0183] Acquire a first target point corresponding to each region point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the region point;

[0184] For each first target point, perform the following processing:

[0185] Setting the three-dimensional device model so that a first reference point of a lower surface of the three-dimensional device model coincides with the first target point, a section of the lower surface of the three-dimensional device model at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line;

[0186] If the three-dimensional model of the device does not collide with the preset surface, determining whether the area point corresponding to the first target point satisfies the collision constraint condition;

[0187] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0188] The midsagittal line is the line running from the midpoint between the eyebrows to the external occipital protuberance, and is the projection of the superior sagittal sinus. The first reference point can be any point on the midline of the lower surface of the device's 3D model.

[0189] In the embodiment of the present application, the medical device may be axisymmetric or approximately axisymmetric, and the reference line of the three-dimensional model of the device may be the central axis.

[0190] See also Figure 4 , Figure 4 This is a schematic diagram of the principle of detecting whether a point in a region satisfies a collision constraint condition, provided in an embodiment of the present application.

[0191] As an example, the collision constraint detection process is as follows:

[0192] For each area point of the three-dimensional skull model, find the point on the inner surface of the three-dimensional skull model that is closest to the area point, that is, the first target point. Perform the following processing steps for each first target point: Position the three-dimensional model of the device so that the first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point. At the same time, the section of the lower surface of the three-dimensional model of the device at this point is coplanar with the section of the inner surface of the skull at this point, and the central axis of the three-dimensional model of the device is parallel to the midsagittal line. Set a preset surface, which is an imaginary surface located on the outside of the skull at a preset distance from the outer surface of the skull, and detect whether the three-dimensional model of the device collides with the preset surface.

[0193] If the device 3D model does not collide with the preset surface, it is determined that the region point corresponding to the first target point satisfies the collision constraint condition. If the device 3D model collides with the preset surface, it is determined that the region point corresponding to the first target point does not satisfy the collision constraint condition.

[0194] In one embodiment, the upper surface of the 3D device model is slid against a curved surface (preset surface) that is a preset distance above the outer surface of the skull. A coarse search is performed using the first step length, followed by a fine search using the second step length. The 3D device model is checked for collisions with the inner surface of the skull (i.e., the outer surface of the dura mater). Points in areas where no collisions occur are placed into a set of candidate locations. The first step length can be 2μm, 5μm, or 10μm, and the second step length can be 0.2μm, 0.5μm, or 1μm.

[0195] Thus, by obtaining the first target point corresponding to each region point, the point on the inner surface of the skull closest to that region point can be determined, serving as the basis for determining collision constraints. For each first target point, the position of the three-dimensional device model is adjusted so that the first reference point on the lower surface of the medical device coincides with the first target point, and the cross-section of the lower surface of the medical device at that point is coplanar with the cross-section of the inner surface of the skull at that point. Furthermore, the reference line of the medical device is parallel to the midsagittal line. After the position of the lower surface of the three-dimensional device model is set, the upper surface of the three-dimensional device model is tested for collision with the preset surface of the three-dimensional skull model. If the upper surface of the three-dimensional device model does not collide with the preset surface, the region point corresponding to the first target point satisfies the collision constraint and can be selected as an alternative location. If the upper surface of the three-dimensional device model collides with the preset surface, the region point corresponding to the first target point does not meet the collision constraint and needs to be excluded. In summary, by precisely setting the three-dimensional device model and combining collision determination with the preset surface, the collision situation of alternative locations can be accurately assessed, providing a reliable basis for formulating surgical plans. Through collision screening, the conditions of device shape, skull structure and preset surface are comprehensively considered, which improves the accuracy and reliability of implant position screening. Implant positions that collide with the inside of the skull can be excluded, ensuring the safety and stability of the operation.

[0196] In some other embodiments, the detecting whether each region point in the three-dimensional skull model satisfies the collision constraint condition (step S201 ) includes:

[0197] Acquire a second target point corresponding to each region point, where the second target point is a point on the three-dimensional skull model on the preset surface that is closest to the region point;

[0198] For each second target point, perform the following processing:

[0199] Setting the three-dimensional device model so that a second reference point on the upper surface of the three-dimensional device model coincides with the second target point, a section of the upper surface of the three-dimensional device model at the second reference point is coplanar with a section of the outer surface of the skull at the second target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line;

[0200] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0201] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0202] The second reference point may be any point on the central axis of the upper surface of the three-dimensional model of the device.

[0203] See also Figure 5 , Figure 5 This is a schematic diagram of another principle for detecting whether a point in a region satisfies a collision constraint condition, provided in an embodiment of the present application.

[0204] As an example, the collision constraint detection process is as follows:

[0205] For each region point on the three-dimensional skull model, the closest point to that region point is found on a preset surface of the three-dimensional skull model, i.e., a second target point. The preset surface is an imaginary surface located on the outside of the skull at a preset distance from the outer surface of the skull. For each second target point, the following processing steps are performed: the three-dimensional model of the medical device is positioned so that the second reference point on the upper surface of the medical device coincides with the second target point. Furthermore, the cross-section of the upper surface of the medical device at that point is coplanar with the cross-section of the preset surface at that point, and the central axis of the medical device is parallel to the midsagittal line. The three-dimensional model of the device is tested for collision with the inner surface of the skull.

[0206] If the device 3D model does not collide with the inner surface of the skull, the region corresponding to the second target point is determined to satisfy the collision constraint condition. If the device 3D model collides with the inner surface of the skull, the region corresponding to the second target point is determined not to satisfy the collision constraint condition.

[0207] In one embodiment, the lower surface of the device model is slid against the inner surface of the skull (i.e., the outer surface of the dura mater). A coarse search is performed using the first step length, followed by a fine search using the second step length. The 3D device model is checked for collisions with a surface (predetermined surface) that is a preset distance above the outer surface of the skull. Points in areas where no collisions occur are placed into a set of candidate locations. The first step length can be 2μm, 5μm, or 10μm, and the second step length can be 0.2μm, 0.5μm, or 1μm.

[0208] Thus, by obtaining the second target point corresponding to each region point, the point on the pre-set surface of the three-dimensional skull model closest to that region point can be determined, serving as the basis for determining the collision constraint condition. For each second target point, the position of the three-dimensional device model is adjusted so that the second reference point on the upper surface of the medical device coincides with the second target point, and the section of the upper surface of the medical device at that point is coplanar with the section of the pre-set surface at that point, with the reference line of the medical device parallel to the midsagittal line. After the position of the upper surface of the three-dimensional device model is set, the lower surface of the three-dimensional device model is tested for collision with the inner surface of the skull of the three-dimensional skull model. If the lower surface of the three-dimensional device model does not collide with the inner surface of the skull, the region point corresponding to the second target point satisfies the collision constraint condition and can be selected as an alternative location. If the lower surface of the three-dimensional device model collides with the inner surface of the skull, the region point corresponding to the second target point does not meet the collision constraint condition and needs to be excluded. In summary, by accurately setting the three-dimensional device model and combining it with collision determination of the pre-set surface, the collision situation of alternative locations can be accurately assessed, providing a reliable basis for formulating surgical plans. Through collision screening, the conditions of device shape, skull structure and preset surface are comprehensively considered, which improves the accuracy and reliability of implant position screening. Implant positions that collide with the inside of the skull can be excluded, ensuring the safety and stability of the operation.

[0209] See also Figure 6 , Figure 6 This is a flow chart of a fit screening process provided in an embodiment of the present application.

[0210] In some embodiments, the screening method further includes fit screening, and the fit screening process includes:

[0211] Step S301: for each region point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the region point;

[0212] Step S302: removing the regional points whose fit degree is less than a preset fit degree from the candidate position set.

[0213] In one embodiment, the region points whose fit is not less than a preset fit are retained in the candidate position set.

[0214] The embodiment of the present application does not limit the preset fit degree, and the preset fit degree can be expressed in percentages or percentages, such as 70%, 75% or 80%.

[0215] Therefore, fit screening is an evaluation process for each regional point in the set of alternative positions, which is used to exclude positions that do not meet the fit requirements. Specifically, for each regional point, the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at that point is calculated. The fit can be calculated using various evaluation methods and indicators, such as contour similarity, minimum distance, curvature matching, etc. According to the preset fit requirements, find the regional points whose fit is less than the preset fit, and eliminate them from the set of alternative positions. The purpose of fit screening is to ensure the degree of match between the upper surface of the device and the outer surface of the skull at the alternative position, thereby reducing scalp tension after surgery and improving the aesthetic effect after suturing. Through fit screening, alternative positions with higher fit with the outer surface of the skull can be selected to ensure the fit stability between the medical device and the skull, and improve the success rate of the operation and patient satisfaction.

[0216] In some embodiments, in step S301, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the regional point includes:

[0217] Obtaining a first projection point and a second projection point corresponding to each region point, respectively, where the first projection point is the point on the outer surface of the skull closest to the region point, and the second projection point is the point on the upper surface of the three-dimensional model of the device closest to the region point;

[0218] calculating a curvature difference between a curvature of an outer surface of the skull at the first projection point and a curvature of an upper surface of the device three-dimensional model at the second projection point;

[0219] The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the regional point is obtained according to the curvature difference.

[0220] In the embodiment of the present application, the smaller the curvature difference, the higher the fit.

[0221] See also Figure 7 , Figure 7 This is a schematic diagram of the principle of fit screening provided in an embodiment of the present application.

[0222] As an example, the process of fit screening is as follows:

[0223] For each area point in the set of alternative positions, find the point on the outer surface of the skull that is closest to the area point, that is, the first projection point, and find the point on the upper surface of the three-dimensional model of the device that is closest to the area point, that is, the second projection point. Calculate the curvature difference between the curvature of the outer surface of the skull at the first projection point and the curvature of the upper surface of the three-dimensional model of the device at the second projection point, and determine the degree of fit based on the curvature difference. The smaller the curvature difference, the higher the degree of fit.

[0224] In one embodiment, the curvature of each projection point on the upper surface of the three-dimensional model of the device and the curvature of each projection point on the outer surface of the skull are converted into color maps for comparison. The closer the colors are, the greater the fit.

[0225] Therefore, by obtaining the first and second projection points corresponding to the regional point and calculating the difference between the curvature of the skull's outer surface at the first projection point and the curvature of the upper surface of the device's three-dimensional model at the second projection point, the fit of the medical device to the skull can be objectively assessed. The curvature difference reflects the difference in the degree of concavity and convexity between the two surfaces, with a smaller difference indicating a better fit. The curvature difference provides an objective and quantitative assessment of the fit between the upper surface of the device and the outer surface of the skull, providing doctors with reliable data support and helping them decide on the optimal implant location.

[0226] In summary, calculating the curvature difference and performing multi-point assessments can more accurately assess the fit between the upper surface of the device and the outer surface of the skull, providing doctors with a more reliable basis for surgical decision-making, ensuring a high degree of fit at the implant location, and improving surgical outcomes and patient satisfaction. This also helps avoid potential discomfort or complications during implantation, enhancing surgical safety and success rates.

[0227] In a specific application scenario, an embodiment of the present application further provides a surgical planning method, the method comprising:

[0228] Acquiring medical imaging data of a patient's skull and a three-dimensional device model of a medical device, wherein the three-dimensional device model has opposing upper and lower surfaces;

[0229] Performing a three-dimensional skull reconstruction based on the medical imaging data to obtain a three-dimensional skull model of the patient, wherein the three-dimensional skull model has a relative inner skull surface and an outer skull surface;

[0230] Screening the implantation position of the medical device based on the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening and fit screening;

[0231] When the candidate position set includes at least one candidate position, calculating an implantation score corresponding to each candidate position based on screening information of each candidate position, wherein the screening information includes: a distance between the candidate position and a preset reference plane; and a fit between the upper surface of the medical device and the outer surface of the skull at the candidate position, wherein the reference plane includes any one of the following: an inner surface of the skull, an outer surface of the skull, and a central plane of the skull;

[0232] selecting the candidate position with the highest implantation score as the optimal implantation position for the medical device;

[0233] generating a first prompt message and sending the first prompt message to a doctor's terminal device, wherein the first prompt message is used to indicate the optimal implantation position;

[0234] When the candidate position set is empty, generating a second prompt message and sending it to the terminal device, wherein the second prompt message is used to indicate that the patient is not suitable for implant surgery;

[0235] The fit screening process includes:

[0236] For each region point in the candidate position set, respectively obtain a first projection point and a second projection point corresponding to each region point, where the first projection point is the point on the outer surface of the skull closest to the region point, and the second projection point is the point on the upper surface of the three-dimensional model of the device closest to the region point;

[0237] calculating a curvature difference between a curvature of an outer surface of the skull at the first projection point and a curvature of an upper surface of the device three-dimensional model at the second projection point;

[0238] Obtaining, based on the curvature difference, a degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the point in the region;

[0239] Eliminate regional points whose fit degree is less than a preset fit degree from the candidate position set;

[0240] The collision screening process includes:

[0241] Detecting whether each region point in the three-dimensional skull model satisfies a collision constraint condition;

[0242] Putting the regional points that meet the collision constraint conditions into the candidate position set;

[0243] The collision constraints include:

[0244] After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is no higher than a preset surface, and the lower surface of the medical device is no lower than the inner surface of the skull, wherein the preset surface is a surface on the outer side of the skull that is a preset distance away from the outer surface of the skull;

[0245] The way to check whether each area point meets the collision constraint conditions is as follows:

[0246] Method 1: obtaining a first target point corresponding to each region point, where the first target point is the point on the inner surface of the skull of the three-dimensional skull model that is closest to the region point;

[0247] For each first target point, perform the following processing:

[0248] Acquire a first target point corresponding to each region point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the region point;

[0249] For each first target point, perform the following processing:

[0250] Setting the three-dimensional device model so that a first reference point of a lower surface of the three-dimensional device model coincides with the first target point, a section of the lower surface of the three-dimensional device model at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line;

[0251] If the three-dimensional model of the device does not collide with the preset surface, determining whether the area point corresponding to the first target point satisfies the collision constraint condition;

[0252] If the three-dimensional model of the device collides with the preset surface, determining that the area point corresponding to the first target point does not satisfy the collision constraint condition;

[0253] Method 2: Acquire a second target point corresponding to each region point, where the second target point is the point of the three-dimensional skull model on the preset surface closest to the region point;

[0254] For each second target point, perform the following processing:

[0255] Setting the three-dimensional device model so that a second reference point on the upper surface of the three-dimensional device model coincides with the second target point, a section of the upper surface of the three-dimensional device model at the second reference point is coplanar with a section of the outer surface of the skull at the second target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line;

[0256] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0257] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0258] In one embodiment, during the thickness screening process, when obtaining the skull thickness corresponding to each regional point, a spatial data structure (such as an Octree or KD-Tree) can be used to accelerate the calculation of skull thickness, avoiding the need to traverse all points and improving computational efficiency. During the collision screening process, for each regional point in the candidate location set, a fast collision detection algorithm, such as bounding box collision detection or closest point distance calculation between geometric bodies, can be used to determine whether collision constraints are met. This can improve collision detection speed. When calculating the implant score for each candidate location, more evaluation metrics and weights can be incorporated to comprehensively consider factors contributing to surgical success. For example, surgical navigation feasibility, surgical risk assessment, and protection of adjacent tissue structures can be considered to comprehensively assess the pros and cons of the implant location. When generating and sending prompt information to the physician's terminal device, real-time communication can be used to ensure that the physician receives prompt information about the patient's surgical conditions in a timely manner, facilitating decision-making. Furthermore, the prompt information can be presented visually, such as using a 3D model or visual chart, to provide a more intuitive presentation.

[0259] Surgical planning device embodiment

[0260] The embodiments of the present application also provide a surgical planning device for implanting a medical device into a patient's skull. The specific embodiments thereof are consistent with the embodiments described in the above-mentioned method embodiments and the technical effects achieved, and some contents will not be repeated here.

[0261] The surgical planning device includes a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the following steps when executing the computer program:

[0262] Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device;

[0263] Performing three-dimensional skull reconstruction based on the medical imaging data to obtain a three-dimensional skull model of the patient;

[0264] Screening the implantation position of the medical device based on the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening;

[0265] When the candidate position set includes at least one candidate position, selecting one of all the candidate positions as the optimal implantation position of the medical device according to screening information of each candidate position;

[0266] A first prompt message is generated and sent to a doctor's terminal device, where the first prompt message is used to indicate the optimal implantation position.

[0267] In some optional embodiments, the at least one processor is further configured to implement the following steps when executing the computer program:

[0268] When the candidate position set is empty, second prompt information is generated and sent to the terminal device, where the second prompt information is used to indicate that the patient is not suitable for implant surgery.

[0269] In some optional embodiments, the three-dimensional model of the device has an upper surface and a lower surface that are opposite to each other, and the three-dimensional model of the skull has an inner skull surface and an outer skull surface that are opposite to each other;

[0270] The at least one processor is configured to, when executing the computer program, select one of all candidate positions as the optimal implantation position of the medical device based on the screening information of each candidate position in the following manner:

[0271] Calculating an implant score corresponding to each candidate position based on screening information of each candidate position, wherein the screening information includes: a distance between the candidate position and a preset reference plane, the reference plane including any one of the following: an inner surface of the skull, an outer surface of the skull, and a central plane of the skull;

[0272] The candidate position with the highest implantation score is determined as the optimal implantation position for the medical device.

[0273] In some optional embodiments, the at least one processor is configured to perform collision screening in the following manner when executing the computer program:

[0274] Detecting whether each region point in the three-dimensional skull model satisfies a collision constraint condition;

[0275] Putting the regional points that meet the collision constraint conditions into the candidate position set;

[0276] The collision constraints include:

[0277] After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is not higher than the preset surface, and the lower surface of the medical device is not lower than the inner surface of the skull, wherein the preset surface is the surface on the outside of the skull that is a preset distance away from the outer surface of the skull.

[0278] In some optional embodiments, the at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies the collision constraint condition in the following manner when executing the computer program:

[0279] Acquire a first target point corresponding to each region point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the region point;

[0280] For each first target point, perform the following processing:

[0281] Setting the three-dimensional device model so that a first reference point of a lower surface of the three-dimensional device model coincides with the first target point, a section of the lower surface of the three-dimensional device model at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line;

[0282] If the three-dimensional model of the device does not collide with the preset surface, determining whether the area point corresponding to the first target point satisfies the collision constraint condition;

[0283] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0284] In some optional embodiments, the at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies the collision constraint condition in the following manner when executing the computer program:

[0285] Acquire a second target point corresponding to each region point, where the second target point is a point on the three-dimensional skull model on the preset surface that is closest to the region point;

[0286] For each second target point, perform the following processing:

[0287] Setting the three-dimensional device model so that a second reference point on the upper surface of the three-dimensional device model coincides with the second target point, a section of the upper surface of the three-dimensional device model at the second reference point is coplanar with a section of the outer surface of the skull at the second target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line;

[0288] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0289] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0290] In some optional embodiments, the screening method further includes fit screening, and the at least one processor is configured to perform fit screening in the following manner when executing the computer program:

[0291] For each region point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the region point;

[0292] The regional points whose fit degree is less than the preset fit degree are removed from the candidate position set.

[0293] In some optional embodiments, the at least one processor is configured to calculate the degree of fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point in the following manner when executing the computer program:

[0294] Obtaining a first projection point and a second projection point corresponding to each region point, respectively, where the first projection point is the point on the outer surface of the skull closest to the region point, and the second projection point is the point on the upper surface of the three-dimensional model of the device closest to the region point;

[0295] Calculating a curvature difference between a curvature of the three-dimensional skull model at the first projection point and a curvature of the three-dimensional device model at the second projection point;

[0296] The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the regional point is obtained according to the curvature difference.

[0297] See also Figure 8 , Figure 8 This is a structural block diagram of a surgical planning device provided in an embodiment of the present application.

[0298] The surgical planning device may include, for example, at least one memory 11 , at least one processor 12 , and a bus 13 connecting different platform systems.

[0299] The memory 11 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 111 and / or a cache memory 112 , and may further include a read-only memory (ROM) 113 .

[0300] The memory 11 also stores a computer program, which can be executed by the processor 12 so that the processor 12 implements the steps of any of the above methods.

[0301] The memory 11 may also include a utility 114 having at least one program module 115, such program module 115 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0302] Accordingly, the processor 12 may execute the aforementioned computer program and the utility 114 .

[0303] The processor 12 may be implemented as one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), or other electronic components.

[0304] The bus 13 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0305] The surgical planning device can also communicate with one or more external devices, such as a keyboard, pointing device, Bluetooth device, etc., one or more devices capable of interacting with the surgical planning device, and / or any device that enables the surgical planning device to communicate with one or more other computing devices (e.g., a router, modem, etc.). Such communication can occur via input / output interface 14. Furthermore, the surgical planning device can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via network adapter 15. Network adapter 15 can communicate with other modules of the surgical planning device via bus 13. It should be understood that, although not shown in the figures, other hardware and / or software modules may be used in conjunction with the surgical planning device in actual applications, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0306] Computer readable storage medium embodiments

[0307] The embodiment of the present application also provides a computer-readable storage medium, the specific embodiment of which is consistent with the embodiment described in the above method embodiment and the technical effects achieved, and some contents will not be repeated here.

[0308] The computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the computer program implements the steps of any of the above methods or implements the functions of any of the above surgical planning devices.

[0309] Computer readable medium can be a computer readable signal medium or a computer readable storage medium. In an embodiment of the present application, a computer readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. Computer readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0310] A computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable storage medium may also be any computer-readable medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, or any suitable combination thereof. The program code used to perform the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a standalone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. Where a remote computing device is involved, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0311] Computer Program Product Embodiments

[0312] The embodiments of the present application also provide a computer program product, the specific embodiments of which are consistent with the embodiments described in the above method embodiments and the technical effects achieved, and some contents will not be repeated here.

[0313] The present application provides a computer program product, which includes a computer program. When the computer program is executed by at least one processor, it implements the steps of any of the above methods or the functions of any of the above surgical planning devices.

[0314] See also Figure 9 , Figure 9 It is a structural diagram of a computer program product provided in an embodiment of the present application.

[0315] The computer program product is used to implement the steps of any of the aforementioned methods or the functions of any of the aforementioned surgical planning devices. The computer program product may be implemented in a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the computer program product of the present invention is not limited thereto and may be implemented in any combination of one or more computer-readable media.

[0316] This application is explained from the perspectives of purpose of use, effectiveness, progress and novelty, and has complied with the functional enhancement and use requirements emphasized by the Patent Law. The above description and drawings of this application are only preferred embodiments of this application and are not intended to limit this application. Therefore, all structures, devices, features, etc. that are similar or identical to those of this application, that is, all equivalent replacements or modifications made in accordance with the scope of the patent application of this application, should fall within the scope of protection of the patent application of this application.

Claims

1. A surgical planning device, characterized in that: The surgical planning device includes a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the following steps when executing the computer program: Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device; Performing three-dimensional skull reconstruction based on the medical imaging data to obtain a three-dimensional skull model of the patient; Screening the implantation position of the medical device based on the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening; When the candidate position set includes at least one candidate position, selecting one of all the candidate positions as the optimal implantation position of the medical device according to screening information of each candidate position; generating a first prompt message and sending the first prompt message to a doctor's terminal device, wherein the first prompt message is used to indicate the optimal implantation position; The at least one processor is configured to perform collision screening in the following manner when executing the computer program: Detecting whether each region point in the three-dimensional skull model satisfies a collision constraint condition; Putting the regional points that meet the collision constraint conditions into the candidate position set; The collision constraints include: After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is no higher than a preset surface, and the lower surface of the medical device is no lower than the inner surface of the skull, wherein the preset surface is a surface on the outer side of the skull that is a preset distance away from the outer surface of the skull; The at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies a collision constraint condition in the following manner when executing the computer program: Acquire a first target point corresponding to each region point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the region point; For each first target point, perform the following processing: Setting the three-dimensional device model so that a first reference point of a lower surface of the three-dimensional device model coincides with the first target point, a section of the lower surface of the three-dimensional device model at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line; If the three-dimensional model of the device does not collide with the preset surface, determining whether the area point corresponding to the first target point satisfies the collision constraint condition; If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

2. The surgical planning device according to claim 1, wherein: The at least one processor is further configured to implement the following steps when executing the computer program: When the candidate position set is empty, second prompt information is generated and sent to the terminal device, where the second prompt information is used to indicate that the patient is not suitable for implant surgery.

3. The surgical planning device according to claim 1, wherein: The three-dimensional model of the device has an upper surface and a lower surface that are opposite to each other, and the three-dimensional model of the skull has an inner skull surface and an outer skull surface that are opposite to each other; The at least one processor is configured to, when executing the computer program, select one of all candidate positions as the optimal implantation position of the medical device based on the screening information of each candidate position in the following manner: Calculating an implant score corresponding to each candidate position based on screening information of each candidate position, wherein the screening information includes: a distance between the candidate position and a preset reference plane, the reference plane including any one of the following: an inner surface of the skull, an outer surface of the skull, and a central plane of the skull; The candidate position with the highest implantation score is determined as the optimal implantation position for the medical device.

4. The surgical planning device according to claim 1, wherein: The at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies a collision constraint condition in the following manner when executing the computer program: Acquire a second target point corresponding to each region point, where the second target point is a point on the three-dimensional skull model on the preset surface that is closest to the region point; For each second target point, perform the following processing: Setting the three-dimensional device model so that a second reference point on the upper surface of the three-dimensional device model coincides with the second target point, a section of the upper surface of the three-dimensional device model at the second reference point is coplanar with a section of the outer surface of the skull at the second target point, and a reference line of the three-dimensional device model is parallel to the midsagittal line; If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition; If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

5. The surgical planning device according to claim 1, wherein: The screening method further includes fit screening, and the at least one processor is configured to perform fit screening in the following manner when executing the computer program: For each region point in the candidate position set, calculating the degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the region point; The regional points whose fit degree is less than the preset fit degree are removed from the candidate position set.

6. The surgical planning device according to claim 5, characterized in that The at least one processor is configured to calculate the degree of fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point in the following manner when executing the computer program: Obtaining a first projection point and a second projection point corresponding to each region point, respectively, where the first projection point is the point on the outer surface of the skull closest to the region point, and the second projection point is the point on the upper surface of the three-dimensional model of the device closest to the region point; calculating a curvature difference between a curvature of an outer surface of the skull at the first projection point and a curvature of an upper surface of the device three-dimensional model at the second projection point; The degree of fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the regional point is obtained according to the curvature difference.

7. A medical system, characterized in that: The medical system includes: A medical device for implantation into a patient's brain; The surgical planning device according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the function of the surgical planning device according to any one of claims 1 to 6 is realized.

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