A drilling path planning method for cochlear implantation channel, a storage medium and an equipment

Abstract

This invention discloses a drilling path planning method, storage medium, and device for cochlear implantation, belonging to the field of path planning technology in cochlear implantation. This invention solves the problems of low efficiency and easy introduction of path deviation in existing path planning methods. The invention preprocesses preoperative three-dimensional CT images and integrates anatomical structural models to extract three-dimensional spatial geometric information of key tissues within the temporal bone, including the facial nerve and cochlea. Subsequently, combined with prior medical knowledge, the drilling path for the cochlear implant electrode is automatically planned in three-dimensional space to minimize damage to key nerves and ensure surgical safety. The path planning method of this invention is applicable to cochlear implantation surgery assisted by medical robots, significantly reducing reliance on the doctor's subjective judgment, improving the individualized adaptability and efficiency of path design, and effectively avoiding path deviation caused by human subjective judgment. This invention can be applied to path planning in cochlear implantation surgery.

Description

Technical Field

[0001] This invention belongs to the field of path planning technology in cochlear implantation, specifically relating to a drilling path planning method, storage medium, and device for cochlear implantation channels. Background Technology

[0002] In cochlear implantation surgery, the planning of the drilling path directly affects the safety of the surgery and the implantation effect. In order to avoid damage to key tissue structures such as the facial nerve and ossicles, doctors usually need to develop a safe and optimal drilling path based on preoperative CT imaging information to ensure that the implant accurately reaches the cochlear opening.

[0003] Currently, path planning primarily relies on preoperative CT imaging. While CT images provide clear information about bony anatomy, they are presented in two-dimensional slices, lacking spatial intuitiveness. Surgeons must possess extensive clinical experience to identify key structures through layer-by-layer slice analysis, mentally constructing their three-dimensional spatial relationships before manually planning the path. However, this approach has significant limitations: it is not only labor-intensive and inefficient but also highly dependent on the surgeon's subjective judgment, easily introducing path deviations and potentially causing intraoperative complications. To overcome the limitations of two-dimensional images, three-dimensional reconstruction technology is used to model CT images, visualizing anatomical structures. This assists surgeons in observing the spatial distribution of target structures and automatically planning drilling paths in three-dimensional space using prior medical knowledge. This significantly reduces reliance on the surgeon's subjective judgment, improves the individualized adaptability of path design, and lays the technological foundation for intelligent otological surgical systems. Summary of the Invention

[0004] The purpose of this invention is to solve the problems of low efficiency and easy introduction of path deviation in existing path planning methods, and to propose a drilling path planning method, storage medium and device for cochlear implantation channel.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a method for drilling path planning of cochlear implantation channel, the method specifically including the following steps:

[0006] Step 1: Obtain a 3D CT image of the area where the human cochlea is located, and then perform semantic segmentation on the obtained 3D CT image to obtain the spatial location of the cochlea, vestibule and facial nerve tissue respectively.

[0007] Based on the spatial location of the cochlea, vestibule, and facial nerve tissues, point cloud data of the cochlea, vestibule, and facial nerve tissues were extracted from the three-dimensional CT images.

[0008] Step 2: Determine the boundary plane n between the cochlea and vestibule based on the cochlear point cloud data and the vestibule point cloud data, and then translate the boundary plane n towards the cochlea to obtain a new plane n1;

[0009] Step 3: Based on the new plane n1 and the facial nerve tissue point cloud data, perform borehole path planning to obtain the borehole path planning results.

[0010] Furthermore, the semantic segmentation of the acquired 3D CT images is performed using a 3D network model, specifically the 3D Unet model.

[0011] Furthermore, the determination of the boundary plane n between the cochlea and vestibule based on cochlear point cloud data and vestibular point cloud data uses a soft support vector machine.

[0012] Furthermore, the dividing plane n is translated towards the cochlea to obtain a new plane n1, with a translation distance of 0.5 mm.

[0013] Furthermore, the specific process of step three is as follows:

[0014] Step 3: 1. Identify the points in the cochlear point cloud data located on plane n1. Then, select the cochlear point from the identified points that is closest to the facial nerve tissue point cloud data. Use this selected cochlear point as the target point P. t ;

[0015] Step 3.2: Slice the 3D CT image along the Z-axis to obtain the target point P. t Draw a line through the target point P on the obtained two-dimensional image slice. t Horizontal line L1;

[0016] Calculate the target point P respectively t The distance from each facial nerve tissue point on the two-dimensional image slice to the horizontal line L1 is used to obtain the facial nerve tissue point P corresponding to the minimum distance. m ;

[0017] Step 33, with point P m With P as the center, at the target point P t Draw a planar circle O with radius D on the two-dimensional image slice;

[0018] Draw the target point P again t The tangent line L2 to the plane circle O;

[0019] Steps 3 and 4: Calculate the distance from each facial nerve tissue point to L2;

[0020] If the distance from each facial nerve tissue point to L2 is greater than or equal to the distance D, then extend the tangent L2 to the outer surface of the CT skull, and take the intersection of the tangent L2 and the outer surface of the CT skull as the starting point P. s Then proceed to step three nine;

[0021] Otherwise, obtain the facial nerve tissue point closest to L2. Then, continue with step three five;

[0022] Step 3.5: Determine the point Mapping point on tangent L2 With vectors As a direction vector, from point Start, Extend and The straight line continues until the point is reached.

[0023] Step 36: Initialize the iteration count l = 0;

[0024] Step 37: Connect the target point P t and points Obtain a straight line Calculate the distance from each facial nerve tissue point to the straight line. The distance;

[0025] If each facial nerve tissue point is on a straight line If the distances are all greater than or equal to distance D, then the straight line... Extending to the outer surface of the skull on CT scan, the straight line The point where it intersects with the outer surface of the skull on CT scan is taken as the starting point P. s Then proceed to step three nine;

[0026] Otherwise, obtain the distance to the straight line. The nearest facial nerve tissue point Then, determine the point. In a straight line Mapping points on With vectors As a direction vector, from point Start, Extend and The straight line continues until the point is reached. Then proceed to step three eight;

[0027] Step 38: Let l = l + 1, then return to step 37.

[0028] Step 39: Connect the starting point P s With target point P t The straight line is used as the final planned drilling path.

[0029] Furthermore, the radius D is:

[0030] D = d drill +d safe

[0031] Where, d drill Let d be the borehole radius. safe For safe distance.

[0032] Furthermore, the point Satisfy: Point With point The straight-line distance is D.

[0033] A computer storage medium storing at least one instruction, which is loaded and executed by a processor to implement a drilling path planning method for a cochlear implantation channel.

[0034] A drilling path planning device for a cochlear implantation channel, the device comprising a processor and a memory, the memory storing at least one instruction, the at least one instruction being loaded and executed by the processor to implement a drilling path planning method for a cochlear implantation channel.

[0035] The beneficial effects of this invention are:

[0036] This invention preprocesses preoperative 3D CT images and integrates anatomical models to extract 3D spatial geometric information of key tissues within the temporal bone, including the facial nerve and cochlea. Subsequently, combining prior medical knowledge, it automatically plans the drilling path for the cochlear implant electrode in 3D space to minimize damage to key nerves and ensure surgical safety. This path planning method is applicable to robot-assisted cochlear implantation surgery, significantly reducing reliance on physician subjective judgment, improving the individualized adaptability and efficiency of path design, and effectively avoiding path deviations caused by human subjective judgment. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the boundary plane between the cochlea and the vestibule;

[0038] Figure 2 This is a schematic diagram of the planning process within a two-dimensional image slice;

[0039] Figure 3 This is a schematic diagram of extending the lines containing P2 and P3 to obtain a new line. Detailed Implementation

[0040] Specific Implementation Method 1: The drilling path planning method for cochlear implantation channels described in this implementation method specifically includes the following steps:

[0041] Step 1: Obtain a 3D CT image of the area where the human cochlea is located, and then perform semantic segmentation on the obtained 3D CT image to obtain the spatial location of the cochlea, vestibule and facial nerve tissue respectively.

[0042] Based on the spatial location of the cochlea, vestibule, and facial nerve tissues, point cloud data of the cochlea, vestibule, and facial nerve tissues were extracted from the three-dimensional CT images.

[0043] Step Two, as follows Figure 1 As shown, the boundary plane n between the cochlea and the vestibular system is determined based on cochlear point cloud data and vestibular point cloud data. Then, the boundary plane n is translated towards the cochlea to obtain a new plane n1.

[0044] Step 3: Based on the new plane n1 and the facial nerve tissue point cloud data, perform borehole path planning to obtain the borehole path planning results.

[0045] Specific Implementation Method Two: This implementation method is a further limitation of Specific Implementation Method One. The semantic segmentation of the acquired three-dimensional CT images is performed using a 3D network model, which is a 3D Unet model.

[0046] The other steps and parameters are the same as in Specific Implementation Method 1.

[0047] The models that can be used in this implementation method include, but are not limited to, the 3D Unet model.

[0048] Specific Implementation Method 3: This implementation method is a further limitation of Specific Implementation Method 1. The method for determining the boundary plane n between the cochlea and vestibule based on cochlear point cloud data and vestibular point cloud data is a soft support vector machine (SoftSVM).

[0049] The other steps and parameters are the same as in Specific Implementation Method 1.

[0050] Specific Implementation Method Four: This implementation method is a further limitation of Specific Implementation Method One. The boundary plane n is translated towards the cochlea to obtain a new plane n1, and the translation distance is 0.5 mm.

[0051] The other steps and parameters are the same as in Specific Implementation Method 1.

[0052] Based on prior knowledge, the circular window is located approximately 0.5 mm below the junction of the cochlea and vestibule. Therefore, the present invention sets the translation distance to 0.5 mm.

[0053] Specific Implementation Method Five: This implementation method is a further limitation of Specific Implementation Method One. The specific process of step three is as follows:

[0054] Step 3: 1. Identify the points on plane n1 in the cochlear point cloud data. Then, select the cochlear point from the identified points that is closest to the facial nerve tissue point cloud data (i.e., for any identified point, calculate the distance between that point and each point in the facial nerve tissue to obtain the minimum distance corresponding to that point; after calculating the minimum distance for each identified point, compare the minimum values ​​to obtain the cochlear point corresponding to the minimum value). Use the selected cochlear point as the target point P. t ;

[0055] Step 3.2: Slice the 3D CT image along the Z-axis to obtain the target point P. t Draw a line through the target point P on the obtained two-dimensional image slice. t Horizontal line L1;

[0056] Calculate the target point P respectively t The distance from each facial nerve tissue point on the two-dimensional image slice to the horizontal line L1 is used to obtain the facial nerve tissue point P corresponding to the minimum distance. m ;

[0057] Step 33, with point P m With P as the center, at the target point P t Draw a planar circle O with radius D on the two-dimensional image slice;

[0058] Draw the target point P again t The tangent line L2 to the plane circle O;

[0059] Steps 3 and 4: Calculate the distance from each facial nerve tissue point to L2;

[0060] If the distance from each facial nerve tissue point to L2 is greater than or equal to the distance D, then extend the tangent L2 to the outer surface of the CT skull, and take the intersection of the tangent L2 and the outer surface of the CT skull (or the point located on the outer side of the outer surface of the CT skull and simultaneously on the tangent L2) as the starting point P. s ,like Figure 2 As shown; then proceed to step three nine;

[0061] Otherwise, obtain the facial nerve tissue point closest to L2. Then, continue with step three five;

[0062] Step 3.5: Determine the point Mapping point on tangent L2 (i.e., from point) Draw a perpendicular line to the tangent L2, and the foot of the perpendicular is... ),like Figure 3 As shown, in vector As a direction vector, from point Start, Extend and The straight line continues until the point is reached.

[0063] Step 36: Initialize the iteration count l = 0;

[0064] Step 37: Connect the target point P t and points Obtain a straight line Calculate the distance from each facial nerve tissue point to the straight line. The distance;

[0065] If each facial nerve tissue point is on a straight line If the distances are all greater than or equal to distance D, then the straight line... Extending to the outer surface of the skull on CT scan, the straight line The point where the CT scan intersects with the outer surface of the skull (or the point located on the outer side of the CT scan skull and simultaneously on the tangent line L2) is taken as the starting point P. s Then proceed to step three nine;

[0066] Otherwise, obtain the distance to the straight line. The nearest facial nerve tissue point Then, determine the point. In a straight line Mapping points on (i.e., from point) Towards a straight line Draw a perpendicular line, and the foot of the perpendicular is... ), in vector As a direction vector, from point Start, Extend and The straight line continues until the point is reached. Then proceed to step three eight;

[0067] Step 38: Let l = l + 1, then return to step 37.

[0068] Step 39: Connect the starting point P s With target point P t The straight line is used as the final planned drilling path.

[0069] The overall programming algorithm is shown in Table 1:

[0070] Table 1

[0071]

[0072]

[0073] The other steps and parameters are the same as in Specific Implementation Method 1.

[0074] Specific Implementation Method Six: This implementation method is a further limitation of Specific Implementation Method Five, wherein the radius D is:

[0075] D = d drill +d safe

[0076] Where, d drill Let d be the borehole radius (taken as 0.9 mm). safe To maintain a safe distance (the drilling channel should maintain a safe distance of at least 0.5 mm from the facial nerve to prevent damage to the facial nerve during surgery), d in this invention... safe (Set to 2.4 mm).

[0077] The other steps and parameters are the same as in Specific Implementation Method 5.

[0078] Specific Implementation Method Seven: This implementation method is a further limitation of Specific Implementation Method Five, wherein the point... Satisfy: Point With point The straight-line distance is D.

[0079] The other steps and parameters are the same as in Specific Implementation Method 5. Detailed implementation method eight:

[0081] This embodiment is a computer storage medium that stores at least one instruction, which is loaded and executed by a processor to implement the aforementioned method for planning the drilling path of a cochlear implantation channel.

[0082] It should be understood that the instructions include computer program products, software, or computerized methods corresponding to any method described in this invention; the instructions can be used to program computer systems or other electronic devices. Computer storage media may include readable media on which instructions are stored, and may include, but are not limited to, magnetic storage media, optical storage media; magneto-optical storage media include read-only memory (ROM), random access memory (RAM), erasable programmable memory (e.g., EPROM and EEPROM), and flash memory layers, or other types of media suitable for storing electronic instructions. Specific implementation method nine:

[0084] This embodiment is a drilling path planning device for cochlear implantation channel. The device includes a processor and a memory. It should be understood that it includes any device including a processor and a memory described in this invention. The device may also include other units and modules that perform display, interaction, processing, control and other functions through signals or instructions.

[0085] The memory stores at least one instruction, which is loaded and executed by the processor to implement the aforementioned method for planning the drilling path of a cochlear implantation channel.

[0086] Those skilled in the art will understand that at least one stored instruction constitutes a computer program product corresponding to a method or system. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0087] This application is described with reference to flowchart illustrations and / or block diagrams of methods, systems, and computer program products according to embodiments of this application, and can also be used with corresponding devices. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0088] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0089] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0090] The above examples of the present invention are merely illustrative of the computational model and process of the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is impossible to exhaustively list all possible implementations here. Any obvious variations or modifications derived from the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for planning the drilling path for cochlear implantation channels, characterized in that, The method specifically includes the following steps: Step 1: Obtain a 3D CT image of the area where the human cochlea is located, and then perform semantic segmentation on the obtained 3D CT image to obtain the spatial location of the cochlea, vestibule and facial nerve tissue respectively. Based on the spatial location of the cochlea, vestibule, and facial nerve tissues, point cloud data of the cochlea, vestibule, and facial nerve tissues were extracted from the three-dimensional CT images. Step two, determining the dividing plane between the cochlea and the vestibule based on the cochlea point cloud data and the vestibule point cloud data , the dividing plane is translated to the cochlea direction to obtain a new plane ; Step three, drilling path planning according to the new plane and facial nerve tissue point cloud data, to get drilling path planning results; The specific process of step three is as follows: Step three: i. Determine the points in the cochlea point cloud data that are located on the plane, and then select the cochlea point closest to the facial nerve tissue point cloud data from the determined points, and take the selected cochlea point as the target point ;​ Step 3.2: Slice the 3D CT image along the Z-axis to obtain the target points. Draw a line through the target point on the obtained 2D image slice. horizontal line ; Calculate the target point separately Each facial nerve tissue point on the two-dimensional image slice is located on the horizontal line. The distance is used to obtain the facial nerve tissue point corresponding to the minimum distance. ; Step 33, using points With the center of the circle, at the target point Draw a radius of on the two-dimensional image slice. Plane circle ; Draw the target point again to the plane circle tangent ; Steps 3 and 4: Calculate the distance from each facial nerve tissue point to the target facial nerve tissue. The distance; If each facial nerve tissue point is located The distances are all greater than or equal to the distance. Then the tangent line Extending to the outer surface of the skull on CT scan, the tangent The starting point is the intersection with the outer surface of the skull on CT scan. Then proceed to step three nine; Otherwise, obtain distance The nearest facial nerve tissue point Then, continue with step three five; Step 3.5: Determine the point At the tangent Mapping points on , with vector As a direction vector, from point Start, Extend and The straight line continues until the point is reached. ; Step 36: Initialize the number of iterations ; Step 37: Connect the target points and points Obtain a straight line Calculate the distance from each facial nerve tissue point to the straight line. The distance; If each facial nerve tissue point is on a straight line The distances are all greater than or equal to the distance. Then the straight line Extending to the outer surface of the skull on CT scan, the straight line The starting point is the intersection with the outer surface of the skull on CT scan. Then proceed to step three nine; Otherwise, obtain the distance to the straight line. The nearest facial nerve tissue point Then, determine the point. In a straight line Mapping points on , with vector As a direction vector, from point Start, Extend and The straight line continues until the point is reached. Then proceed to step three eight; Step 38, Order Return to step 37; Step 39: Connect the starting point With the target point The straight line is used as the final planned drilling path.

2. The drilling path planning method for a cochlear implantation channel according to claim 1, characterized in that, The semantic segmentation of the acquired 3D CT images is performed using a 3D network model, which is the 3D Unet model.

3. The method for drilling path planning for cochlear implantation channels according to claim 1, characterized in that, The boundary plane between the cochlea and vestibule is determined based on cochlear point cloud data and vestibular point cloud data. It uses a soft support vector machine.

4. The drilling path planning method for a cochlear implantation channel according to claim 1, characterized in that, The dividing plane A new plane is obtained by translating it towards the cochlea. The translation distance is 0.5 mm.

5. The drilling path planning method for a cochlear implantation channel according to claim 1, characterized in that, The radius for: in, Where is the borehole radius, For safe distance.

6. The method for drilling path planning for cochlear implantation channel according to claim 1, characterized in that, Said point Satisfy: Point With point The straight-line distance is .

7. A computer storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by a processor to implement the drilling path planning method for a cochlear implantation channel as described in any one of claims 1 to 6.

8. A drilling path planning device for cochlear implantation channels, characterized in that, The device includes a processor and a memory, the memory storing at least one instruction, which is loaded and executed by the processor to implement the drilling path planning method for a cochlear implantation channel as described in any one of claims 1 to 6.

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