Electrode rendering method, device and equipment based on three-dimensional visual program control and medium

Abstract

The invention discloses an electrode rendering method, device and equipment based on three-dimensional visual program control and a medium. The method comprises the following steps: determining an electrode implantation information configuration file of a target patient; determining an electrode parameter corresponding to each electrode model according to the electrode model corresponding to the electrode position in the electrode implantation information configuration file; according to the electrode position and the electrode parameter of each electrode in the electrode implantation information configuration file, rendering in the three-dimensional scene to obtain an electrode basic model; and according to the electrode parameters, the electrode slice model is rendered on the electrode basic model, and an electrode rendering result corresponding to each electrode is obtained. According to the invention, the rendering efficiency of different models of electrodes in the three-dimensional visual programmed control system is improved; and when each electrode is rendered, the electrode basic model is firstly rendered, and the electrode slice model is further rendered on the basis of the basic model, so that the electrode rendering accuracy is improved, and the expansibility of subsequent modification is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of medical device technology, and in particular to an electrode rendering method, device, equipment and medium based on three-dimensional visualization program control. Background Art

[0002] In recent years, implantable neural electrical stimulation systems have been widely used to treat or manage a variety of disease types, including but not limited to spastic diseases (e.g., epilepsy), pain, migraine, mental illness, etc. Implantable neural electrical stimulation systems include deep brain stimulation systems (DBS for short), etc. Implantable neural electrical stimulation systems include a stimulator implanted in the patient's body (i.e., an implantable neural stimulator) and a programmable device disposed outside the patient's body. In other words, a stimulator is a medical device, or in other words, a medical device includes a stimulator. The relevant neural regulation technology mainly involves implanting electrodes (electrodes, for example, in the form of electrode wires) in specific locations (i.e., target sites) of the tissues of an organism through stereotactic surgery, and sending electrical pulses to the target sites through the electrodes to regulate the electrical activity and functions of the corresponding neural structures and networks, thereby improving symptoms and relieving pain.

[0003] During treatment, a programmable connection is established between the programmable device and the stimulator, and the programmable device is used to adjust one or more stimulation parameters of the stimulator (or one or more stimulation parameters of the pulse generator; different stimulation parameters correspond to different electrical stimulations). The stimulator can also sense the patient's electrophysiological activities to collect electrophysiological signals, and the collected electrophysiological signals can be used to continue to adjust the stimulation parameters of the stimulator, thereby achieving closed-loop control (or adaptive adjustment) of the stimulation parameters.

[0004] The electrodes are rendered in 3D by the program-controlled equipment, which makes it easier for doctors and patients to view the electrodes implanted in the patient's body. If a patient has multiple electrodes of different models implanted in the brain, the 3D visualization program-controlled system will need to maintain more and more types of electrodes, which is not conducive to the scalability of the system. Summary of the invention

[0005] The present invention provides an electrode rendering method, device, equipment and medium based on three-dimensional visualization program control, so as to solve the problem of rendering difficulty in a three-dimensional visualization program control system when a plurality of electrodes of different models are implanted in the patient's brain.

[0006] According to one aspect of the present invention, there is provided a method for electrode rendering based on three-dimensional visualization program control, comprising:

[0007] Determine an electrode implantation information configuration file of a target patient; wherein the electrode implantation information configuration file includes electrode positions of at least two electrodes implanted in the patient's brain and corresponding electrode models;

[0008] Determine electrode parameters corresponding to each electrode model according to the electrode model corresponding to the electrode position in the electrode implantation information configuration file;

[0009] Rendering an electrode basic model in a three-dimensional scene according to the electrode position of each electrode and the electrode parameters in the electrode implantation information configuration file;

[0010] According to the electrode parameters, an electrode sheet model is rendered on the electrode base model to obtain an electrode rendering result corresponding to each electrode.

[0011] According to another aspect of the present invention, there is provided an electrode rendering device based on three-dimensional visualization program control, comprising:

[0012] A configuration file determination module, used to determine an electrode implantation information configuration file of a target patient; wherein the electrode implantation information configuration file includes electrode positions of at least two electrodes implanted in the patient's brain and corresponding electrode models;

[0013] An electrode parameter determination module, used to determine the electrode parameters corresponding to each electrode model according to the electrode model corresponding to the electrode position in the electrode implantation information configuration file;

[0014] A basic model rendering module, used for rendering an electrode basic model in a three-dimensional scene according to the electrode position and the electrode parameters of each electrode in the electrode implantation information configuration file;

[0015] The electrode sheet rendering module is used to render the electrode sheet model on the electrode basic model according to the electrode parameters to obtain the electrode rendering result corresponding to each electrode.

[0016] According to another aspect of the present invention, there is provided a program-controlled device, the program-controlled device comprising:

[0017] A program control interface, configured to provide a doctor with an interface for inputting program control parameters;

[0018] A processor configured to receive the program control parameters and rendering instructions input by the doctor, and execute the method described in any embodiment of the present invention to obtain an electrode rendering result corresponding to each electrode implanted in the patient's brain;

[0019] The display interface is configured to display at least three-dimensionally the electrode rendering results corresponding to each electrode implanted into the patient's brain.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the electrode rendering method based on three-dimensional visualization program control described in any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention renders each electrode through the description information of multiple different types of electrodes implanted in the patient in the electrode implantation information configuration file, thereby improving the rendering efficiency of different types of electrodes in the three-dimensional visualization program control system; and when rendering each electrode, the electrode basic model is rendered first, and the electrode sheet model is further rendered on the basic model, thereby improving the accuracy of electrode rendering and the scalability for subsequent modification.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of an electrode rendering method based on three-dimensional visualization program control provided according to an embodiment of the present invention;

[0025] Figure 2 is a flow chart of another electrode rendering method based on three-dimensional visualization program control provided according to an embodiment of the present invention;

[0026] Figure 3 is a flowchart of another electrode rendering method based on three-dimensional visualization program control provided according to an embodiment of the present invention;

[0027] Figure 4 It is a structural schematic diagram of an electrode rendering device based on three-dimensional visual program control provided according to an embodiment of the present invention;

[0028] Figure 5 It is a structural schematic diagram of a program-controlled device for implementing an electrode rendering method based on three-dimensional visual program control according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "candidate", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] First, one of the application fields of the embodiment of the present application (i.e., an implantable neural stimulation system) is briefly described.

[0032] Implantable medical systems include implantable neural stimulation systems, implantable cardiac stimulation systems (also known as pacemakers), implantable drug delivery systems (IDDS), and lead switching systems. Examples of implantable neural stimulation systems include deep brain stimulation (DBS), implantable cortical nerve stimulation (CNS), implantable spinal cord stimulation (SCS), implantable sacral nerve stimulation (SNS), and implantable vagus nerve stimulation (VNS).

[0033] The implantable neural electrical stimulation system includes a stimulator implanted in the patient's body (i.e., an implantable neural stimulator) and a programmable device disposed outside the patient's body. In other words, the stimulator is a medical device, or in other words, the medical device includes the stimulator. The relevant neural regulation technology mainly implants electrodes (electrodes, for example, in the form of electrode wires) in specific parts of the tissues of the organism (i.e., target points) through stereotactic surgery, and emits discharge pulses to the target points through the electrodes to regulate the electrical activity and function of the corresponding neural structures and networks, thereby improving symptoms and relieving pain.

[0034] As an example, DBS includes an IPG (Implantable Pulse Generator), an extension wire and an electrode wire, and the IPG is connected to the electrode wire via the extension wire. The IPG is implanted in the patient's body, for example, in the patient's chest or other body parts.

[0035] As another example, DBS includes an IPG and an electrode lead, and the IPG is directly connected to the electrode lead. The IPG is implanted in the patient's head, for example, a groove is made in the patient's skull, and then the IPG is installed in the groove of the skull. In this case, the IPG may not protrude from the outer surface of the skull, or may partially protrude from the outer surface of the skull.

[0036] Among them, IPG responds to the sample brain mask information sent by the program-controlled device, relying on sealed batteries and circuits to provide controllable electrical stimulation therapy (or electrical stimulation energy) to the tissues in the body. When the battery is low, the battery needs to be charged, and the method for charging the battery can be to use electromagnetic induction coil wireless charging to charge through human skin or other epidermal tissues. IPG delivers one or more controllable specific electrical stimulations to specific areas of tissues in the body through electrode wires.

[0037] In some embodiments, the extension lead is used in conjunction with the IPG as a transmission medium for electrical stimulation, and transmits the electrical stimulation generated by the IPG to the electrode lead.

[0038] In some embodiments, the electrical stimulation may be delivered in the form of a pulse signal or in the form of a non-pulse signal. For example, the electrical stimulation may be delivered as a signal having various waveform shapes, frequencies, and amplitudes. Thus, the electrical stimulation in the form of a non-pulse signal may be a continuous signal, which may have a sinusoidal waveform or other continuous waveform.

[0039] After receiving the electrical stimulation transmitted by the IPG or the extension wire, the electrode wire delivers the electrical stimulation to a specific area of ​​the tissue in the body through a plurality of electrode contacts. The stimulator is provided with, for example, one or more electrode wires on one side or both sides, and a plurality of electrode contacts are provided on the electrode wire, and the electrode contacts can be arranged uniformly or non-uniformly in the circumferential direction of the electrode wire. As an example, the electrode contacts can be arranged in an array of 4 rows and 3 columns (a total of 12 electrode contacts) in the circumferential direction of the electrode wire. The electrode contacts can include stimulation electrode contacts and / or collection electrode contacts. The electrode contacts can be in the shape of sheets, rings, dots, etc., for example.

[0040] In some embodiments, the stimulated in vivo 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), the use of one or more (single channel or multiple channels) of specific electrical stimulation, and the stimulation parameters (values) are also different.

[0041] The embodiments of the present application do not limit the types of diseases that can be used, and they can be the types of diseases that deep brain stimulation (DBS), spinal cord stimulation (SCS), sacral nerve stimulation, gastric stimulation, peripheral nerve stimulation, and functional electrical stimulation can be used for. Among them, the types of diseases that DBS can be used to treat or manage include, but are not limited to: spastic diseases (e.g., epilepsy), pain, migraine, mental illness (e.g., major depressive disorder (MDD)), bipolar disorder, anxiety, post-traumatic stress disorder, mild depression, 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.

[0042] In the embodiment of the present application, when the programmable device and the stimulator establish a programmable connection, the programmable device can be used to adjust one or more stimulation parameters of the stimulator (or one or more stimulation parameters of the pulse generator, different stimulation parameters correspond to different electrical stimulations), and the stimulator can also sense the patient's electrophysiological activities to collect electrophysiological signals, and the collected electrophysiological signals can be used to continue to adjust the stimulation parameters of the stimulator, thereby realizing closed-loop control (or adaptive adjustment) of the stimulation parameters.

[0043] The stimulation parameters may include at least one of the following: the electrode contact identification used to deliver electrical stimulation (for example, electrode contact #2 and electrode contact #3), frequency (for example, the number of electrical stimulation pulse signals within a unit time of 1s, in Hz), pulse width (the duration of each pulse, in μs), amplitude (generally expressed in voltage, that is, the intensity of each pulse, in V), timing (for example, it can be continuous or burst, and burst refers to discontinuous timing behavior composed of multiple processes), stimulation mode (including one or more of current mode, voltage mode, timed stimulation mode and cyclic stimulation mode), upper and lower limits controlled by the doctor (the range that can be adjusted by the doctor) and upper and lower limits controlled by the patient (the range that can be adjusted autonomously by the patient).

[0044] In some embodiments, various stimulation parameters of the stimulator can be adjusted in current mode or voltage mode.

[0045] Programmable devices may include doctor programmable devices (i.e. programmable devices used by doctors) and / or patient programmable devices (i.e. programmable devices used by patients). Doctor programmable devices are, for example, tablet computers, laptop computers, desktop computers, mobile phones and other intelligent terminal devices equipped with programmable software. Patient programmable devices are, for example, tablet computers, laptop computers, desktop computers, mobile phones and other intelligent terminal devices equipped with programmable software. Patient programmable devices may also be other electronic devices with programmable functions (e.g., chargers with programmable functions, electrophysiological acquisition devices, etc.).

[0046] The embodiment of the present application does not restrict the data interaction between the doctor's programming device and the stimulator. When the doctor performs remote programming, the doctor's programming device can interact with the stimulator through the server and the patient's programming device. When the doctor performs offline programming with the patient face to face, the doctor's programming device can interact with the stimulator through the patient's programming device, and the doctor's programming device can also interact with the stimulator directly. The doctor sends a programming parameter group to the stimulator through the programming device. The programming parameter group (or the preset programming parameters mentioned below) includes multiple electrode contacts and stimulation parameters corresponding to each electrode contact.

[0047] In some embodiments, the patient programmable device may include a host (communicating with a server) and a slave (communicating with a stimulator), and the host and the slave are communicatively connected. Among them, the doctor programmable device can exchange data with the server through a 3G / 4G / 5G network, the server can exchange data with the host through a 3G / 4G / 5G network, the host can exchange data with the slave through a Bluetooth protocol / WIFI protocol / USB protocol, the slave can exchange data with the stimulator through a 401MHz-406MHz working frequency band / 2.4GHz-2.48GHz working frequency band, and the doctor programmable device can directly exchange data with the stimulator through a 401MHz-406MHz working frequency band / 2.4GHz-2.48GHz working frequency band.

[0048] Figure 1 A flowchart of a method for rendering an electrode based on three-dimensional visualization program control is provided for an embodiment of the present invention. This embodiment is applicable to the case of performing three-dimensional visualization program control rendering on electrodes implanted in a patient's brain. The method can be executed by an electrode rendering device based on three-dimensional visualization program control. The electrode rendering device based on three-dimensional visualization program control can be implemented in the form of hardware and / or software. The electrode rendering device based on three-dimensional visualization program control can be configured in a server with computing capabilities. Figure 1 As shown, the method includes:

[0049] S110. Determine an electrode implantation information configuration file for a target patient.

[0050] Among them, the electrode implantation information configuration file is used to describe the target patient's brain electrode implantation information. Since the patient's brain implanted electrodes may include multiple models, and the specifications of different models of electrodes are also different, such as different surface areas and contact spacing, there are more and more types of electrodes that need to be maintained in the 3D visualization program control system, which brings certain difficulties to the 3D visualization rendering of multiple types of electrodes in the 3D visualization program control system. In order to improve the scalability of the visualization program control system for electrode rendering, when the patient undergoes electrode implantation surgery, the implantation status of the electrode during the surgery is determined, including the implanted electrode model and implantation location information, and the electrode implantation information configuration file is generated according to the actual surgical implantation status.

[0051] Specifically, the electrode implantation information configuration file includes the electrode positions of at least two electrodes implanted in the patient's brain and the corresponding electrode models. Exemplarily, the human brain region is divided into multiple regions, the electrode model of the electrode implanted in each region is determined, and the electrode implantation position information corresponding to each model of electrode is determined based on the regional position information.

[0052] The electrode model and electrode position implanted in the patient's brain are described based on the specific information of the target patient's electrode implantation surgery, and an electrode implantation information configuration file is generated. The three-dimensional visualization program control system parses the electrode implantation information configuration file, and according to the predetermined description rules of the electrode implantation information configuration file, the electrode positions and corresponding electrode models of at least two electrodes implanted in the patient's brain are determined based on the parsing results.

[0053] S120. Determine electrode parameters corresponding to each electrode model according to the electrode model corresponding to the electrode position in the electrode implantation information configuration file.

[0054] After all electrode models implanted in the target patient's brain are parsed from the electrode implantation information configuration file, the corresponding electrode parameters are determined according to each electrode model. Exemplarily, when the electrode implantation information configuration file is generated, the electrode parameters corresponding to the electrode models implanted in the patient's brain are stored in the file, and after all electrode models are parsed from the electrode implantation information configuration file, the electrode parameters corresponding to each electrode model are extracted from the electrode implantation information configuration file according to each electrode model.

[0055] The electrode parameters are used to characterize the factors affecting the appearance rendering of the electrode model. Specifically, the electrode parameters include at least electrode radius, contact spacing, contact length, and contact quantity.

[0056] In a feasible embodiment, S120 includes:

[0057] Determine an electrode parameter configuration file; wherein the electrode parameter configuration file includes electrode parameters of multiple electrode models;

[0058] Determine the electrode model corresponding to the electrode position in the electrode implantation information configuration file;

[0059] The electrode parameters that match each electrode model are determined in the electrode parameter configuration file.

[0060] The corresponding electrode parameters are determined in advance based on the candidate electrode models that can be implanted in the patient's brain, and an electrode parameter configuration file is generated based on all the candidate electrode models and the corresponding electrode parameters. The three-dimensional visualization program control system parses the electrode parameter configuration file and determines the electrode parameters that match each electrode model based on the parsing results.

[0061] By predetermining the electrode parameter configuration file, patients implanted with different types of electrodes can determine the corresponding electrode parameters through the electrode parameter configuration file, avoiding the workload caused by generating electrode parameters in the electrode implantation information configuration file and improving the generation efficiency of the electrode implantation information configuration file.

[0062] S130, rendering an electrode basic model in a three-dimensional scene according to the electrode position and electrode parameters of each electrode in the electrode implantation information configuration file.

[0063] The electrode position includes the position information of each electrode in the target patient's brain. Since the electrodes implanted in the brain are in the form of electrode wires, the overall contour of each electrode is rendered by the electrode position and electrode parameters to obtain an electrode basic model. The electrode basic model is used to characterize the overall contour of the electrode. Exemplarily, the electrode basic model is an electrode cylindrical model.

[0064] Specifically, the electrode position can be the two ends of the electrode, such as the bottom, top or center point of the electrode in the target patient's brain, which is used to preliminarily locate the electrode position; the electrode parameters include parameters that characterize the overall contour of the electrode, for example, the electrode parameters include the electrode radius and the electrode length. Since the overall contour of the electrode can be represented by a cylinder, the electrode radius is used as the bottom radius of the cylinder, and the electrode length is used as the side height of the cylinder to render a cylindrical model, and the cylindrical model is rendered at the corresponding position according to the representation meaning of the electrode position to obtain the electrode basic model.

[0065] S140 , rendering the electrode sheet model on the electrode base model according to the electrode parameters to obtain an electrode rendering result corresponding to each electrode.

[0066] Since each electrode includes multiple electrode sheets, and the number and spacing of electrode sheets deployed on different types of electrodes are also different, the electrode parameters include description parameters of the electrode sheets on the electrode, such as the number, length and spacing of the contacts that characterize the electrode sheets.

[0067] Specifically, the description parameters of the electrode sheet on each electrode are determined according to the electrode parameters, the corresponding electrode sheet model is determined according to the description parameters, and the electrode sheet model is rendered on the electrode basic model according to the description parameters in the electrode parameters to obtain the final electrode rendering result corresponding to each electrode.

[0068] The technical solution of the embodiment of the present invention renders each electrode through the description information of multiple different types of electrodes implanted in the patient in the electrode implantation information configuration file, thereby improving the rendering efficiency of different types of electrodes in the three-dimensional visualization program control system; and when rendering each electrode, the electrode basic model is rendered first, and the electrode sheet model is further rendered on the basic model, thereby improving the accuracy of electrode rendering and the scalability for subsequent modification.

[0069] Figure 2A flowchart of another electrode rendering method based on three-dimensional visualization program control provided by an embodiment of the present invention, this embodiment further refines the rendering process of the electrode basic model in the above embodiment. Among them, the electrode position of each electrode in the electrode implantation information configuration file includes at least two electrode contact coordinates, one of which is the end electrode contact coordinate, and the other electrode contact coordinates are any contact coordinates on the electrode except the end electrode contact coordinate.

[0070] Specifically, the position of each electrode implanted in the target patient's brain is represented by at least two electrode contact coordinates, wherein one electrode contact coordinate is the coordinate of the end contact of the electrode, which may be the coordinate of any point at either end of the electrode. For further accurate representation, the end electrode contact coordinate is the coordinate of the center of a circle at either end of the electrode; the other electrode contact coordinates are the coordinates of any contact point on the electrode, such as the coordinates of the middle contact of the electrode, and / or the coordinates of the contact at the other end of the electrode.

[0071] Exemplarily, the electrode position of each electrode in the electrode implantation information configuration file includes two electrode contact point coordinates, one electrode contact point coordinate is the electrode end electrode contact point coordinate, and the other electrode contact point coordinate is the coordinate of any contact point on the side of the electrode. If the electrode implantation information configuration file includes two electrodes, the electrode implantation information configuration file includes four electrode contact point coordinates, and so on.

[0072] like Figure 2 As shown, the method includes:

[0073] S210. Determine an electrode implantation information configuration file for a target patient.

[0074] The electrode implantation information configuration file includes the electrode positions of at least two electrodes implanted in the patient's brain and the corresponding electrode models.

[0075] S220. Determine electrode parameters corresponding to each electrode model according to the electrode model corresponding to the electrode position in the electrode implantation information configuration file.

[0076] S230, determining the electrode radius in the electrode parameters; using the electrode radius as the circle radius, rendering to obtain a circular model of the electrode end.

[0077] The electrode radius is used to represent the radius of the bottom circle of the electrode. The overall outline of the electrode can be regarded as a cylinder, so the end of the electrode is circular. Specifically, the electrode parameters are analyzed, and the electrode radius is determined from the electrode parameters according to the predefined electrode parameter rules. A circular model is drawn with the electrode radius as the circle radius, and the circular model is used as the circular model of the electrode end of the electrode.

[0078] S240, using the coordinates of the end electrode contact point as the starting point of the circle center stretching, and the coordinates of other electrode contact points as the path points of the circle center stretching, stretching and rendering the circular model of the electrode end to obtain the electrode basic model.

[0079] Since the cross-sectional area of ​​the electrode is very small, the end electrode contact coordinates are used as the bottom circle center coordinates, and the other electrode contact coordinates are used as the cross-sectional circle center coordinates of the corresponding positions to render the electrode basic model.

[0080] Specifically, the circular model of the electrode end is stretched with the end electrode contact coordinates as the center starting point coordinates, and is stretched to the other electrode contact coordinates as the next center stretching point coordinates. A cylindrical model is rendered as the electrode basic model, and the electrode basic model is rendered into a three-dimensional visualization scene.

[0081] In a feasible embodiment, the electrode positions of at least two electrodes in the electrode implantation information configuration file are determined according to an anatomical coordinate system;

[0082] Accordingly, after determining the electrode implantation information configuration file of the target patient, the method further includes:

[0083] A transformation matrix between the anatomical coordinate system and the world coordinate system is determined; and coordinate system transformation is performed on electrode positions of at least two electrodes according to the transformation matrix.

[0084] Since the electrode implantation information configuration file is determined based on the surgical information of the target patient, the electrode contact coordinates in the implantation information configuration file are determined based on the anatomical coordinate system (RAS coordinate system). The world coordinate system is used for three-dimensional visualization of the patient's brain condition in the three-dimensional visualization program control system. Therefore, the coordinate system conversion of the electrode position is required before the electrode is rendered according to the electrode position.

[0085] Specifically, the electrode position obtained by parsing the electrode implantation information configuration file is in the RAS coordinate system, which is far away from the axis center of the world coordinate system and has an incorrect position orientation. Therefore, in order to correct the electrode position, the electrode position needs to be converted into the XYZ coordinate system. The conversion matrix between the RAS coordinate system and the XYZ coordinate system is predetermined, such as the conversion matrix Matrix4 (-1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1), and the conversion matrix can be determined based on the corresponding associated point coordinates between the predetermined RAS coordinate system and the XYZ coordinate system. Finally, the electrode position in the RAS coordinate system is multiplied by the conversion matrix to obtain the corrected coordinates in the XYZ coordinate system, so as to render the electrode according to the corrected coordinates to ensure the accuracy of the electrode position after rendering.

[0086] S250 , rendering the electrode sheet model on the electrode base model according to the electrode parameters, and obtaining an electrode rendering result corresponding to each electrode.

[0087] The technical solution of the embodiment of the present invention renders the electrode basic model by rendering a cylindrical model based on the electrode radius and the coordinates of at least two electrode contacts, thereby improving the rendering efficiency and rendering accuracy of the electrode basic model.

[0088] Figure 3 This is a flowchart of another electrode rendering method based on three-dimensional visualization program control provided by an embodiment of the present invention. This embodiment further refines the rendering process of the electrode sheet model in the above embodiment. Figure 3 As shown, the method includes:

[0089] S310: Determine an electrode implantation information configuration file for a target patient.

[0090] The electrode implantation information configuration file includes the electrode positions of at least two electrodes implanted in the patient's brain and the corresponding electrode models.

[0091] S320. Determine electrode parameters corresponding to each electrode model according to the electrode model corresponding to the electrode position in the electrode implantation information configuration file.

[0092] S330, rendering an electrode basic model in a three-dimensional scene according to the electrode position and electrode parameters of each electrode in the electrode implantation information configuration file.

[0093] S340, determining the electrode radius, contact point spacing, contact point length and contact point quantity among the electrode parameters.

[0094] Among them, the electrode radius is used to represent the overall outline size of the electrode, the contact spacing is used to represent the spacing between any two electrode sheets on the electrode, the contact length is used to represent the length of the electrode sheet, and the number of contacts is used to represent the number of electrode sheets on the electrode.

[0095] S350, rendering a straight line model according to the contact length, rotating the straight line model about the axis of the electrode base model, with the electrode radius as the rotation radius, and rendering to obtain electrode sheet models of the number of contacts.

[0096] Since the contact length indicates the display length of the electrode sheet on the electrode, a straight line model is rendered according to the contact length parameter. The straight line model can indicate the length specification of the electrode sheet model. Since the electrode sheet is attached to the electrode, the straight line model is rotated with the axis of the electrode base model as the rotation axis and the electrode radius as the rotation radius, and a ring-shaped electrode sheet model is rendered. According to the rendering process of the ring-shaped electrode sheet model, the electrode sheet models with the number of contacts are rendered.

[0097] Exemplarily, the number of contacts is 3, indicating that there are 3 electrode sheets on the electrode, and three electrode sheet models are obtained by rendering according to the same rendering steps.

[0098] S360, arranging and rendering the electrode sheet models having the same number of contacts in sequence on the electrode base model according to the contact spacing, and obtaining an electrode rendering result corresponding to each electrode.

[0099] The contact spacing represents the spacing between any two electrode sheets on the electrode. Therefore, after all electrode sheet models are rendered, the electrode sheet models are arranged on the electrode base model in sequence according to the contact spacing. After all contacts on the electrode are rendered, the final electrode rendering result corresponding to each electrode is obtained. The contact spacing can be one spacing, indicating that multiple electrode sheet models are arranged at equal intervals; or the contact spacing can be multiple spacings, and multiple electrode sheet models are arranged in sequence according to multiple spacings.

[0100] In a feasible embodiment, before obtaining the electrode rendering result corresponding to each electrode, the method further includes:

[0101] The program-controlled parameters and preset rendering identifiers are obtained, and the electrode sheet number, polarity, and electrode sheet color in the program-controlled parameters are determined; and the electrode sheet model is rendered according to the electrode sheet number, polarity, and electrode sheet color.

[0102] Among them, the program-controlled parameters and preset rendering identifiers are used to represent the parameters and identifiers for displaying the rendering effect of the electrode rendering results in the three-dimensional visualization program-controlled system. The program-controlled parameters include at least the electrode sheet number, electrode sheet polarity and electrode sheet color. The electrode sheet number is used to render and display the electrode sheet on each electrode, the electrode sheet polarity is used to render and display the electrode sheet polarity on each electrode, and the electrode sheet color is used to render and display the electrode sheet color on each electrode.

[0103] Specifically, the electrode sheet model is rendered according to the control rules of the electrode sheet number, polarity and electrode sheet color in the program-controlled parameters. Exemplarily, the color attribute of the electrode sheet is modified in real time according to the electrode sheet color in the program-controlled parameters, so that the rendering color of the electrode sheet changes in real time according to the program-controlled parameters, thereby improving the controllability of the rendering result of the electrode sheet model through the program-controlled parameters. According to the electrode sheet number in the program-controlled parameters, a digital map containing the number is produced using Canvas, and the digital map is used as the EmissiveMap (luminous mask) of the electrode sheet model to realize the rendering of the electrode sheet number.

[0104] The technical solution of the embodiment of the present invention renders the electrode sheet model on the electrode base model by rendering an annular cylinder based on the contact spacing, contact length and number of contacts in the electrode parameters, thereby improving the rendering efficiency of the electrode sheet model and the rendering efficiency of the final electrode rendering result of each electrode.

[0105] Figure 4 The schematic diagram of the structure of an electrode rendering device based on three-dimensional visual program control provided by an embodiment of the present invention. Figure 4 As shown, the device comprises:

[0106] The configuration file determination module 410 is used to determine the electrode implantation information configuration file of the target patient; wherein the electrode implantation information configuration file includes the electrode positions of at least two electrodes implanted in the patient's brain and the corresponding electrode models;

[0107] An electrode parameter determination module 420, configured to determine electrode parameters corresponding to each electrode model according to the electrode model corresponding to the electrode position in the electrode implantation information configuration file;

[0108] A basic model rendering module 430 is used to render an electrode basic model in a three-dimensional scene according to the electrode position and electrode parameters of each electrode in the electrode implantation information configuration file;

[0109] The electrode sheet rendering module 440 is used to render the electrode sheet model on the electrode base model according to the electrode parameters to obtain the electrode rendering result corresponding to each electrode.

[0110] The technical solution of the embodiment of the present invention renders each electrode through the description information of multiple different types of electrodes implanted in the patient in the electrode implantation information configuration file, thereby improving the rendering efficiency of different types of electrodes in the three-dimensional visualization program control system; and when rendering each electrode, the electrode basic model is rendered first, and the electrode sheet model is further rendered on the basic model, thereby improving the accuracy of electrode rendering and the scalability for subsequent modification.

[0111] Optionally, the electrode position of each electrode in the electrode implantation information configuration file includes at least two electrode contact point coordinates, one of which is an end electrode contact point coordinate, and the other electrode contact point coordinates are any contact point coordinates on the electrode except the end electrode contact point coordinates.

[0112] Optional, basic model rendering module, specifically used for:

[0113] Determine the electrode radius in the electrode parameters;

[0114] Taking the electrode radius as the circle radius, the circular model of the electrode end is rendered;

[0115] The electrode end contact coordinates are used as the starting point of the circle center stretching, and the other electrode contact coordinates are used as the path points of the circle center stretching. The circular model of the electrode end is stretched and rendered to obtain the electrode basic model.

[0116] Optionally, wherein the electrode positions of at least two electrodes in the electrode implantation information configuration file are determined according to an anatomical coordinate system;

[0117] Accordingly, the device further includes an electrode position conversion module, which is used to:

[0118] After determining the electrode implantation information profile of the target patient, determining the transformation matrix between the anatomical coordinate system and the world coordinate system;

[0119] The electrode positions of at least two electrodes are transformed into coordinate systems according to the transformation matrix.

[0120] Optional, electrode sheet rendering module, specifically used for:

[0121] Determine the electrode radius, contact spacing, contact length and contact number among the electrode parameters;

[0122] A straight line model is obtained by rendering according to the length of the contact point, and the straight line model is rotated about the axis of the electrode base model, with the electrode radius being the rotation radius, and an electrode sheet model having the number of contact points is obtained by rendering;

[0123] The electrode sheet models with the same number of contacts are arranged and rendered in sequence on the electrode base model according to the contact spacing.

[0124] Optionally, the device further comprises an electrode sheet model program-controlled rendering module, which is used for:

[0125] Before obtaining the electrode rendering result corresponding to each electrode, the program control parameters and the preset rendering identifier are obtained to determine the electrode sheet number, polarity and electrode sheet color in the program control parameters;

[0126] The electrode model is rendered according to the electrode number, polarity and electrode color.

[0127] Optionally, the electrode parameter determination module is specifically used for:

[0128] Determine an electrode parameter configuration file; wherein the electrode parameter configuration file includes electrode parameters of multiple electrode models;

[0129] Determine the electrode model corresponding to the electrode position in the electrode implantation information configuration file;

[0130] The electrode parameters that match each electrode model are determined in the electrode parameter configuration file.

[0131] The electrode rendering device based on three-dimensional visualization program control provided in the embodiment of the present invention can execute the electrode rendering method based on three-dimensional visualization program control provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0132] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations and do not violate public order and good morals.

[0133] According to an embodiment of the present disclosure, the present disclosure also provides a program-controlled device, a readable storage medium and a computer program product.

[0134] The program-controlled device includes: a program-controlled interface, configured to provide a doctor with an interface for inputting program-controlled parameters; a processor, configured to receive the program-controlled parameters and rendering instructions input by the doctor, and execute the method of any embodiment of the present invention to obtain an electrode rendering result corresponding to each electrode implanted in the patient's brain; and a display interface, configured to display the electrode rendering result corresponding to each electrode implanted in the patient's brain in at least three dimensions.

[0135] Figure 5 A schematic diagram of the structure of a program-controlled device 10 that can be used to implement an embodiment of the present invention is shown.

[0136] The program-controlled device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The program-controlled device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0137] like Figure 5 As shown, the program-controlled device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the program-controlled device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0138] A number of components in the program-controlled device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the program-controlled device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0139] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as an electrode rendering method based on three-dimensional visualization program control.

[0140] In some embodiments, the electrode rendering method based on three-dimensional visualization program control can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the program-controlled device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps in the electrode rendering method based on three-dimensional visualization program control described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the electrode rendering method based on three-dimensional visualization program control in any other appropriate manner (e.g., by means of firmware).

[0141] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific reference products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0142] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0143] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0144] To provide interaction with a user, the systems and techniques described herein may be implemented on a programmable device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the programmable device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0145] The systems and techniques described herein may be implemented in a computing system that includes a backend component (e.g., as a data server), or a computing system that includes a switch component (e.g., an application server), or a computing system that includes a frontend component (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, switch components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0146] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0147] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0148] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for electrode rendering based on three-dimensional visualization program control, characterized in that: The method includes: Determine an electrode implantation information configuration file of a target patient; wherein the electrode implantation information configuration file includes electrode positions of at least two electrodes implanted in the patient's brain and corresponding electrode models; Determine electrode parameters corresponding to each electrode model according to the electrode model corresponding to the electrode position in the electrode implantation information configuration file; Rendering an electrode basic model in a three-dimensional scene according to the electrode position of each electrode and the electrode parameters in the electrode implantation information configuration file; According to the electrode parameters, an electrode sheet model is rendered on the electrode base model to obtain an electrode rendering result corresponding to each electrode.

2. The method according to claim 1, characterized in that in, The electrode position of each electrode in the electrode implantation information configuration file includes at least two electrode contact point coordinates, one of which is the end electrode contact point coordinate, and the other electrode contact point coordinates are any contact point coordinates on the electrode except the end electrode contact point coordinate.

3. The method according to claim 2, characterized in that According to the electrode position of each electrode and the electrode parameters in the electrode implantation information configuration file, an electrode basic model is rendered in a three-dimensional scene, including: Determine the electrode radius in the electrode parameters; Taking the electrode radius as the circle radius, rendering to obtain a circular model of the electrode end; The electrode end circular model is stretched and rendered using the end electrode contact coordinates as the starting point of the circle center stretching and the other electrode contact coordinates as the path points of the circle center stretching to obtain the electrode basic model.

4. The method according to claim 2 or 3, characterized in that: in, The electrode positions of at least two electrodes in the electrode implantation information configuration file are determined according to an anatomical coordinate system; Accordingly, after determining the electrode implantation information configuration file of the target patient, the method further includes: Determine the transformation matrix between the anatomical coordinate system and the world coordinate system; The electrode positions of the at least two electrodes are transformed into a coordinate system according to the transformation matrix.

5. The method according to claim 1, characterized in that Rendering an electrode sheet model on the electrode base model according to the electrode parameters includes: Determine the electrode radius, contact spacing, contact length and contact number among the electrode parameters; Rendering a straight line model according to the contact length, rotating the straight line model about the axis of the electrode base model, with the electrode radius being the rotation radius, and rendering to obtain electrode sheet models with the number of contacts; The electrode sheet models with the number of contacts are arranged and rendered in sequence on the electrode base model according to the contact spacing.

6. The method according to claim 1 or 5, characterized in that: Before obtaining the electrode rendering result corresponding to each electrode, the method further includes: Obtaining program-controlled parameters and preset rendering identifiers, and determining the electrode sheet number, polarity, and electrode sheet color in the program-controlled parameters; The electrode sheet model is rendered according to the electrode sheet number, polarity and electrode sheet color.

7. The method according to claim 1, characterized in that Determining electrode parameters corresponding to each electrode model according to the electrode model corresponding to the electrode position in the electrode implantation information configuration file includes: Determine an electrode parameter configuration file; wherein the electrode parameter configuration file includes electrode parameters of multiple electrode models; Determine an electrode model corresponding to the electrode position in the electrode implantation information configuration file; Electrode parameters matching each of the electrode models are determined in the electrode parameter configuration file.

8. An electrode rendering device based on three-dimensional visualization program control, characterized in that: The device includes: A configuration file determination module, used to determine an electrode implantation information configuration file of a target patient; wherein the electrode implantation information configuration file includes electrode positions of at least two electrodes implanted in the patient's brain and corresponding electrode models; An electrode parameter determination module, used to determine the electrode parameters corresponding to each electrode model according to the electrode model corresponding to the electrode position in the electrode implantation information configuration file; A basic model rendering module, used for rendering an electrode basic model in a three-dimensional scene according to the electrode position and the electrode parameters of each electrode in the electrode implantation information configuration file; The electrode sheet rendering module is used to render the electrode sheet model on the electrode basic model according to the electrode parameters to obtain the electrode rendering result corresponding to each electrode.

9. A program-controlled device, characterized in that: The program-controlled device comprises: A program control interface, configured to provide a doctor with an interface for inputting program control parameters; A processor configured to receive the program control parameters and rendering instructions input by the doctor, and execute the method according to any one of claims 1 to 7 to obtain an electrode rendering result corresponding to each electrode implanted into the patient's brain; The display interface is configured to display at least three-dimensionally the electrode rendering results corresponding to each electrode implanted into the patient's brain.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the electrode rendering method based on three-dimensional visualization program control according to any one of claims 1 to 7 when executed.

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