Virtual placement interaction method and device for implants

Abstract

A virtual implant placement interaction method and device are disclosed. The interaction method includes: acquiring a three-dimensional model of the cerebral cortex; updating the position of the implant in response to a received operation command and acquiring the real-time three-dimensional coordinates of the implant; placing the implant in the three-dimensional model of the cerebral cortex, or placing it on the surface of the three-dimensional model of the cerebral cortex; re-rendering the three-dimensional model of the cerebral cortex based on the real-time three-dimensional coordinates of the implant; and outputting the re-rendered three-dimensional model of the cerebral cortex. This solution enables adjustment of the implant's position on the three-dimensional model of the cerebral cortex, providing a direct and real-time display of the operation effect. Furthermore, it eliminates the need to switch between different software during data processing, simplifying the data processing workflow and improving data processing efficiency.

Description

Technical Field

[0001] This invention relates to the field of brain-computer interface technology, and in particular to a method and apparatus for virtual placement and interaction of implants. Background Technology

[0002] In neurosurgery and brain science, especially in brain-computer interface research, the standard workflow is as follows: analyze the preoperative magnetic resonance imaging (MRI) data of the patient or experimental subject to reconstruct a three-dimensional model of the cerebral cortex; then, on the three-dimensional model of the cerebral cortex, accurately locate the various electrodes implanted during the operation (such as ECoG cortical electrode arrays, SEEG deep electrodes, ECoG flexible electrodes, etc.) in three dimensions for subsequent clinical diagnosis or scientific analysis.

[0003] Currently, the above workflow is quite cumbersome, requiring switching between multiple independent software programs (such as Freeview, MATLAB, Python command-line terminal, etc.), and it is impossible to adjust the position of the electrodes on the 3D model, making it difficult to intuitively display the operation effect in real time. Summary of the Invention

[0004] The objective of this invention is at least to provide a virtual implant placement interactive method and device, which enables adjustment of the implant's position on a three-dimensional model of the cerebral cortex and provides a real-time, intuitive display of the operational effects. Furthermore, during data processing, there is no need to switch between different software, simplifying the data processing workflow and improving data processing efficiency.

[0005] In a first aspect, the present invention provides a virtual placement interaction method for implants, applied in a brain-computer interface, comprising: acquiring a three-dimensional model of the cerebral cortex; updating the position of the implant in response to a received operation command, and acquiring the real-time three-dimensional coordinates of the implant; placing the implant in the three-dimensional model of the cerebral cortex, or placing it on the surface of the three-dimensional model of the cerebral cortex; re-rendering the three-dimensional model of the cerebral cortex based on the real-time three-dimensional coordinates of the implant; and outputting the re-rendered three-dimensional model of the cerebral cortex.

[0006] Upon receiving an instruction to manipulate the implant, the system updates the implant's position on or within the 3D model of the cerebral cortex and acquires the implant's real-time 3D coordinates. Then, based on these coordinates, the 3D model of the cerebral cortex is re-rendered and output. This allows for adjustment of the implant's position on the 3D model of the cerebral cortex and provides a clear, real-time visualization of the manipulation results. Furthermore, the data processing eliminates the need to switch between different software programs, simplifying the process and improving efficiency.

[0007] Optionally, the step of re-rendering the three-dimensional model of the cerebral cortex based on the real-time three-dimensional coordinates of the implant includes: obtaining the real-time three-dimensional coordinates corresponding to key points on the implant; querying anatomical region of interest (ROI) data based on the real-time three-dimensional coordinates of the key points to determine the target brain region of the key points in the cerebral cortex; obtaining the electrophysiological data corresponding to the target brain region; and adjusting the visual attributes of the key points based on the electrophysiological data corresponding to the target brain region; wherein the visual attributes of the key points include at least one of the following: the size of the key points, the color of the key points, and the brightness of the key points.

[0008] Optionally, the implant is an invasive implant that penetrates the cerebral cortex; the method further includes: in response to receiving a profile generation instruction, acquiring a three-dimensional trajectory of the implant; performing virtual cutting along the three-dimensional trajectory to acquire the intersection points of each anatomical region of interest (ROI) traversed by the three-dimensional trajectory; generating a two-dimensional profile, the two-dimensional profile including: the trajectory of the implant displayed in a one-dimensional linear manner, each ROI traversed by the implant, and the start and end depths of the implant traversing each ROI; the ROIs traversed by the implant in different layers are marked with different colors, and the start and end depths of the implant traversing each ROI are marked with labels.

[0009] Optionally, the virtual placement interaction method for the implant further includes: outputting the two-dimensional cross-sectional view.

[0010] Optionally, the operation instruction is a movement instruction output by a human-computer interaction device to move the implant; updating the position of the implant and obtaining the real-time three-dimensional coordinates of the implant includes: obtaining the actual displacement corresponding to the movement instruction; obtaining the target displacement of the implant on the three-dimensional model of the cerebral cortex based on the actual displacement; and obtaining the real-time three-dimensional coordinates of the implant based on the target displacement.

[0011] Optionally, the operation instruction is a movement instruction output by the human-computer interaction device to move the implant; updating the position of the implant and obtaining the real-time three-dimensional coordinates of the implant includes: obtaining the three-dimensional convex hull of the three-dimensional model of the cerebral cortex and generating a proxy interaction surface; obtaining the displacement of the actual displacement corresponding to the movement instruction on the proxy interaction surface; after the movement instruction ends, projecting the final displacement on the proxy interaction surface onto the three-dimensional model of the cerebral cortex to obtain the target displacement of the implant on the three-dimensional model of the cerebral cortex; and obtaining the real-time three-dimensional coordinates of the implant based on the target displacement.

[0012] Optionally, obtaining the three-dimensional model of the cerebral cortex includes: performing standard preprocessing and multimodal registration on the acquired image data to generate a three-dimensional model file and an anatomical partition file corresponding to the image data; the image data includes at least one of the following: anatomical image data and implant image data; performing standard preprocessing and multimodal registration on the image data to obtain the three-dimensional model file and the anatomical partition file; and constructing the three-dimensional model of the cerebral cortex based on the three-dimensional model file and the anatomical partition file.

[0013] Secondly, the present invention provides an implant virtual placement interactive device for use in a brain-computer interface, comprising: a model acquisition unit for acquiring a three-dimensional model of the cerebral cortex; a three-dimensional coordinate acquisition unit for updating the position of the implant in response to a received operation command and acquiring the real-time three-dimensional coordinates of the implant; the implant being placed in the three-dimensional model of the cerebral cortex, or placed on the surface of the three-dimensional model of the cerebral cortex; a rendering unit for re-rendering the three-dimensional model of the cerebral cortex based on the real-time three-dimensional coordinates of the implant; and an output unit for outputting the re-rendered three-dimensional model of the cerebral cortex.

[0014] Thirdly, the present invention also provides a computer-readable storage medium, which is a non-volatile or non-transient storage medium, on which a computer program is stored, wherein the computer program, when run by a processor, executes the steps of any of the above-described virtual implant placement interaction methods.

[0015] Fourthly, the present invention also provides another virtual implant placement interaction device, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the steps of any of the above-described virtual implant placement interaction methods when running the computer program. Attached Figure Description

[0016] Figure 1This is a flowchart of an interactive method for virtual placement of implants according to an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of an implant virtual placement interactive device according to an embodiment of the present invention. Detailed Implementation

[0018] Currently, the process of locating implants in the cerebral cortex typically includes the following steps:

[0019] 1) Data preprocessing

[0020] Doctors or researchers use medical imaging software (such as Freesurfer) to process preoperative magnetic resonance imaging images of patients or experimental subjects and reconstruct a three-dimensional grid model (pial surface) of the cerebral cortex.

[0021] 2) Obtaining initial coordinates

[0022] Doctors or researchers can determine the approximate location of the implant's electrode array from surgical records and intraoperative 3D navigation, and then manually click and record the approximate three-dimensional coordinates of a corner of the electrode array from medical imaging software.

[0023] 3) Coordinate data entry

[0024] Doctors or researchers can input the coordinates obtained manually in step 2) into a MATLAB matrix file or a similar text file.

[0025] 4) Script execution and calculation

[0026] Run img_pipe, developed by UCSF Chang Lab. img_pipe is a widely cited command-line Python toolkit. This script reads the file generated in step 3) and calculates the three-dimensional coordinates of all electrodes in the electrode array based on preset electrode array geometric parameters (such as the number of rows and columns and spacing).

[0027] 5) Visualization and Verification

[0028] After the above img_pipe script is executed, a static image of a brain model with electrodes is generated, which can be used by doctors or researchers to check whether the localization results are accurate.

[0029] As can be seen, the existing technology for implant positioning is quite cumbersome, requiring switching between multiple independent software programs (such as Freeview, MATLAB, and Python command-line terminals), manual copying and transcription of data, resulting in a fragmented process prone to errors. Furthermore, implant placement is based on offline, non-visual coordinate digital input; users cannot directly manipulate (e.g., drag and drop) the implant on the 3D model to place or adjust it, making it difficult to intuitively demonstrate user actions. It also prevents adjustment of electrode positions on the 3D model, hindering real-time visualization of the operational effects.

[0030] Furthermore, after executing the script and generating brain model images, if the implant location is found to be inconsistent with expectations, step 2) above needs to be repeated, the coordinates need to be reselected in the imaging software, the data file needs to be modified, and the script needs to be run again. The entire trial-and-error feedback loop is time-consuming.

[0031] In this embodiment of the invention, upon receiving an operation command to manipulate the implant, the position of the implant on or within the three-dimensional model of the cerebral cortex is updated, and the real-time three-dimensional coordinates of the implant are obtained. Then, based on the real-time three-dimensional coordinates of the implant, the three-dimensional model of the cerebral cortex is re-rendered and output. This allows for adjustment of the implant's position on the three-dimensional model of the cerebral cortex and provides a clear, real-time display of the operation's effect. Furthermore, during data processing, there is no need to switch between different software, simplifying the data processing workflow and improving data processing efficiency.

[0032] To make the above-mentioned objectives, features and beneficial effects of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] This invention provides an interactive method for virtual placement of implants, referring to... Figure 1 The following will provide a detailed explanation through specific steps.

[0034] In the above embodiments of the present invention, the implant virtual placement interaction method described in the following embodiments can be executed by an implant virtual placement interaction system. The implant virtual interaction system may include a front-end application module and a back-end computing service module, etc.

[0035] In practical implementation, the front-end application module can be built based on modern web technology stacks (such as Electron, React, Three.js, etc.). This module can provide a graphical user interface (GUI), allowing users to interact with the system via human-computer interaction interfaces (such as mouse and keyboard) to input commands. The front-end application module includes a 3D rendering engine for rendering a 3D model of the cerebral cortex. It may also include a real-time implant interaction module to capture and respond to user actions.

[0036] The backend computing service module, built on Python and its scientific computing ecosystem (such as Nibabel and Trimesh), is responsible for executing computationally intensive tasks or tasks that are inconvenient to process on the frontend. The backend computing service module is mainly used for the following:

[0037] The preprocessing service automatically calls external command-line tools such as Freesurfer to process the raw MRI data and further optimizes the generated raw anatomical model, such as generating proxy surfaces for smooth interaction and converting the model format (e.g., to gltf / stl).

[0038] Image registration service is used to assist in the registration of multimodal images (such as preoperative MRI and postoperative CT).

[0039] The data storage service is responsible for saving users' work (such as implant coordinates and project configurations) as files and reloading them.

[0040] The virtual implant placement interactive system may also include a front-end and back-end communication module, which is responsible for communication between the front-end application module and the back-end computing service module. The front-end and back-end communication module can be implemented in various ways, such as directly calling the back-end script through inter-process communication (IPC), or using a more loosely coupled approach such as a message queue for task distribution and result collection.

[0041] The virtual implant placement interactive system may also include a data export module, which is responsible for exporting the relevant data after the user completes the virtual placement into files of the corresponding format according to clinical or scientific research needs.

[0042] In the following embodiments, for ease of description, the virtual implant placement interaction system will be referred to simply as the interaction system.

[0043] Step 101: Obtain a three-dimensional model of the cerebral cortex.

[0044] In practice, users can select a folder containing image data in the graphical user interface and then select the image data from the folder. The image data can include at least one of the following: anatomical image data and implant image data. The anatomical image data can be MRI image data, and the implant image data can be CT data.

[0045] In practice, once a user selects image data, the interactive system can automatically call medical image viewing software (such as Freesurfer) to perform standard preprocessing, i.e., multimodal registration, on the selected image data, generating a 3D model file and an anatomical partition file corresponding to the image data.

[0046] In some embodiments, the aforementioned 3D model files and anatomical partition files can also be pre-generated. When a user selects these pre-generated 3D model files and anatomical partition files, the selected 3D model files and anatomical partition files can be loaded directly.

[0047] The 3D rendering engine in the interactive system can process 3D model files and anatomical partition files to render a 3D model of the cerebral cortex in the GUI interface.

[0048] In practice, the specific process of obtaining the three-dimensional model of the cerebral cortex can be referred to the relevant implementation schemes in the existing technology, which will not be elaborated here.

[0049] Step 102: In response to the received operation command, update the position of the implant and obtain the real-time three-dimensional coordinates of the implant.

[0050] In this embodiment of the invention, the user can input operation commands to the interactive system through a human-computer interaction interface. Upon receiving the operation commands input by the user, the interactive system can update the position of the implant and obtain the real-time three-dimensional coordinates of the implant.

[0051] In practice, the implant can be placed within a three-dimensional model of the cerebral cortex. Alternatively, the implant can be placed on the surface of a three-dimensional model of the cerebral cortex.

[0052] In practice, the user's input commands can be to place an implant on or within a three-dimensional model of the cerebral cortex. Alternatively, the user can move the placed implant on the three-dimensional model of the cerebral cortex to adjust its position.

[0053] When the operating command is a movement command to move the implant, the interactive system can obtain the actual displacement corresponding to the movement command. Based on the actual displacement, the interactive system maps the target displacement of the implant onto a three-dimensional model of the cerebral cortex. Based on the target displacement of the implant, the interactive system obtains the real-time three-dimensional coordinates of the implant.

[0054] In some embodiments, users can place the implant by dragging it with a mouse, or drag the implant to change its position in the cerebral cortex. Alternatively, users can drag the implant to change its position by swiping.

[0055] When the user drags the implant via the human-computer interaction device, the displacement is the actual displacement. The interactive system can determine the target displacement of the implant on the three-dimensional model of the cerebral cortex based on the actual displacement of the movement command. The mapping relationship between the actual position input by the human-computer interaction device and the target displacement can be preset.

[0056] For example, if the actual displacement of the mouse is 1cm to the left, the corresponding target displacement on the three-dimensional model of the cerebral cortex is 2cm to the left.

[0057] After determining the target displacement of the implant on the three-dimensional model of the cerebral cortex, the interactive system can update the three-dimensional coordinates of the implant in real time based on the target displacement, thus obtaining the real-time three-dimensional coordinates of the implant.

[0058] In practice, the implant may include an electrode array, which may contain several electrodes. When acquiring the real-time three-dimensional coordinates of the implant, the real-time three-dimensional coordinates of each electrode can also be acquired simultaneously.

[0059] In practice, the user can move the implant as a whole, or move one or more electrodes within the implant. When the user moves the implant as a whole, the real-time 3D coordinates of the implant as a whole, as well as the real-time 3D coordinates of each electrode, can be obtained. When the user moves only some electrodes within the implant, the real-time 3D coordinates of the moved electrodes can be obtained.

[0060] In practice, the user can move the implant by dragging it or rotating it. The user can also move the electrode, or rotate the electrode, etc.

[0061] In practice, the electrode array in the implant can be an electrocorticography (ECoG) electrode array, or a deep brain stimulation (DBS) electrode, a stereotactic electroencephalography (SEEG) electrode, an invasive microwire electrode, a neural probe, or any other virtual medical device with different physical properties (such as rigidity and flexibility) and materials that needs to be precisely placed on the target anatomical structure.

[0062] Step 103: Based on the real-time three-dimensional coordinates of the implant, re-render the three-dimensional model of the cerebral cortex.

[0063] Step 104: Output the re-rendered 3D model of the cerebral cortex.

[0064] In this embodiment of the invention, after obtaining the real-time three-dimensional coordinates of the implant, the interactive system can re-render the three-dimensional model of the cerebral cortex using a three-dimensional rendering engine. This allows for real-time updates to the three-dimensional model of the cerebral cortex. When the position of the implant changes, this can be visually and intuitively displayed on the three-dimensional model of the cerebral cortex.

[0065] In this embodiment of the invention, after obtaining the real-time three-dimensional coordinates of the implant, during the process of re-rendering the three-dimensional model of the cerebral cortex, a multimodal information fusion and visualization process can also be performed.

[0066] In the process of fusing and visualizing the aforementioned multimodal information, the real-time three-dimensional coordinates corresponding to key points on the implant can be obtained first. These key points on the implant can refer to the center of the electrode in the implant, a vertex of the electrode, or any point on the electrode.

[0067] The interactive system can query anatomical region data based on the real-time 3D coordinates of key points to determine the target brain region of the cerebral cortex where the key points are located. Based on the target brain region and the real-time 3D coordinates of the key points, the system can also query the corresponding electrophysiological data of the target brain region to obtain relevant functional indicators (such as signal energy). The interactive system adjusts the visual attributes of the key points based on preset mapping rules.

[0068] In some embodiments, the interactive system can change the color of keypoints based on their anatomical location. The system can also change the size and brightness of keypoints based on their corresponding functional indicators. This allows for the re-rendering of a three-dimensional model of the cerebral cortex.

[0069] In other words, during the process of re-rendering the three-dimensional model of the cerebral cortex, the visual attributes of the key points of the electrodes can be adjusted, thereby enriching the image information of the re-rendered three-dimensional model of the cerebral cortex.

[0070] In this embodiment of the invention, if the implant is an invasive implant (such as a SEEG electrode), the user can select the implant in the user graphical interface and trigger the cross-sectional view generation command.

[0071] Once the interactive system receives the profile generation command, it can obtain the 3D trajectory of the implant. The interactive system performs virtual cutting along this 3D trajectory, obtaining the intersection points of each anatomical region traversed by the trajectory. The interactive system can then generate a new 2D profile, which may include: the implant trajectory displayed in a one-dimensional linear manner, each ROI layer traversed by the implant, and the start and end depths of the implant traversing each ROI layer; ROI layers traversed by the implant are marked with different colors, and the start and end depths of the implant traversing each ROI layer are indicated by labels.

[0072] Specifically, the content in the above labels can be the specific numerical values ​​for the start and end depths.

[0073] In this embodiment of the invention, after the user completes all operations, they can export various data such as the precise three-dimensional coordinates of all electrodes, tables with ROI labels, visualization results that integrate electrophysiological information, and cross-sectional views through the one-click export button in the user's graphical interface.

[0074] In this embodiment of the invention, for step 102 above, the interactive system can also use other methods to obtain the real-time three-dimensional coordinates of the implant. The interactive system can calculate the three-dimensional convex hull corresponding to the three-dimensional model of the cerebral cortex based on the three-dimensional model of the cerebral cortex, and generate a proxy interactive surface. Compared to the three-dimensional model of the cerebral cortex, the computational cost of the proxy interactive surface is lower.

[0075] When the operation command is a movement command, the interactive system acquires the actual displacement on the proxy interaction surface. When the user ends the movement of the implant (i.e., the operation command ends), the final displacement on the proxy interaction surface is projected onto a 3D model of the cerebral cortex to obtain the target displacement of the implant on the 3D model of the cerebral cortex. The interactive system then obtains the real-time 3D coordinates of the implant based on the target displacement.

[0076] Compared to directly calculating the real-time 3D coordinates of the implant on a 3D model of the cerebral cortex, the 3D convex hull method is used to separate interactive calculation and precise positioning, which improves the smoothness of operation while achieving precise positioning.

[0077] In summary, the virtual implant placement interaction method provided in the above embodiments of the present invention integrates the entire process from raw data processing (obtaining a three-dimensional model of the cerebral cortex) to final data output into a single user graphical interface, eliminating the need to switch between multiple software programs and improving work efficiency.

[0078] This system enables real-time, dynamic binding and visualization of the implant's anatomical location information (derived from anatomical partitioning files) and functional information (derived from electrophysiological data), generating multi-dimensional cross-sectional views and providing rich information for clinical diagnosis and scientific research. It visualizes the user's operation process and the final rendering results with low learning costs. Furthermore, it provides timely and intuitive feedback on the user's operational results.

[0079] In this embodiment of the invention, the above-described virtual implant placement method can also be extended to a three-dimensional model of the human head. That is, a three-dimensional model of the human head can be acquired, and in response to received operation commands, the position of the implant can be updated, and the real-time coordinates of the implant can be reacquired. The implant can be placed within the three-dimensional model of the human head, or placed on the surface of the three-dimensional model of the human head. Based on the real-time three-dimensional coordinates of the implant, the three-dimensional model of the human head is re-rendered, and the re-rendered three-dimensional model of the human head is output.

[0080] In this embodiment of the invention, the real-time three-dimensional coordinates of the implant obtained in step 102 refer to the real-time three-dimensional coordinates of the implant in a three-dimensional model of the cerebral cortex of a specific individual. After obtaining the real-time three-dimensional coordinates of the implant, they can also be mapped to a standard brain template (such as the MNI152 template) to facilitate comparison with data from other individuals.

[0081] Reference Figure 2 An embodiment of the present invention provides an interactive device 20 for virtual placement of implants, comprising: a model acquisition unit 201, a three-dimensional coordinate acquisition unit 202, a rendering unit 203, and an output unit 204, wherein:

[0082] Model acquisition unit 201 is used to acquire a three-dimensional model of the cerebral cortex;

[0083] The three-dimensional coordinate acquisition unit 202 is used to update the position of the implant and acquire the real-time three-dimensional coordinates of the implant in response to the received operation command; the implant is placed in the three-dimensional model of the cerebral cortex, or placed on the surface of the three-dimensional model of the cerebral cortex.

[0084] The rendering unit 203 is used to re-render the three-dimensional model of the cerebral cortex based on the real-time three-dimensional coordinates of the implant;

[0085] Output unit 204 is used to output the re-rendered 3D model of the cerebral cortex.

[0086] In specific implementation, the specific execution process of the above-mentioned model acquisition unit 201, three-dimensional coordinate acquisition unit 202, rendering unit 203 and output unit 204 can be referred to steps 101 to 104 above, which will not be elaborated here.

[0087] In specific implementation, the modules / units included in the various devices and products described in the above embodiments can be software modules / units, hardware modules / units, or a combination of both.

[0088] For example, for various devices and products applied to or integrated into a chip, each module / unit can be implemented using hardware methods such as circuits, or at least some modules / units can be implemented using software programs that run on a processor integrated within the chip, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits; for various devices and products applied to or integrated into a chip module, each module / unit can be implemented using hardware methods such as circuits, and different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components of the chip module, or at least some modules / units can be implemented using hardware methods such as circuits. The components can be implemented using software programs that run on the processor integrated within the chip module. The remaining (if any) modules / units can be implemented using hardware methods such as circuits. For various devices and products applied to or integrated into the terminal, each of its components / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or in different components within the terminal. Alternatively, at least some modules / units can be implemented using software programs that run on the processor integrated within the terminal, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits.

[0089] This invention also provides a computer-readable storage medium, which is a non-volatile or non-transient storage medium, storing a computer program thereon. When the computer program is run by a processor, it executes the steps of the virtual implant placement interaction method provided in any of the above embodiments.

[0090] This invention also provides another virtual implant placement interaction device, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor runs the computer program, it executes the steps of the virtual implant placement interaction method provided in any of the above embodiments.

[0091] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include ROM, RAM, disk, or optical disk, etc.

[0092] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A virtual placement and interaction method for implants, applied in brain-computer interfaces, characterized in that, include: Obtain a three-dimensional model of the cerebral cortex; In response to the received operation command, the position of the implant is updated and the real-time three-dimensional coordinates of the implant are obtained; the implant is placed in the three-dimensional model of the cerebral cortex, or placed on the surface of the three-dimensional model of the cerebral cortex; The operation command is a movement command output by the human-computer interaction device to move the implant. The step of updating the position of the implant and obtaining the real-time three-dimensional coordinates of the implant includes: obtaining the three-dimensional convex hull of the three-dimensional model of the cerebral cortex and generating a proxy interaction surface; obtaining the displacement of the actual displacement corresponding to the movement command on the proxy interaction surface; projecting the final displacement on the proxy interaction surface onto the three-dimensional model of the cerebral cortex to obtain the target displacement of the implant on the three-dimensional model of the cerebral cortex; and obtaining the real-time three-dimensional coordinates of the implant based on the target displacement. Based on the real-time three-dimensional coordinates of the implant, the three-dimensional model of the cerebral cortex is re-rendered; Output a re-rendered 3D model of the cerebral cortex; The implant is an invasive implant that penetrates the cerebral cortex. The method further includes: in response to receiving a profile generation instruction, acquiring the three-dimensional trajectory of the implant; performing virtual cutting along the three-dimensional trajectory to acquire the intersection points of each anatomical region of interest (ROI) traversed by the three-dimensional trajectory; generating a two-dimensional profile, the two-dimensional profile including: the trajectory of the implant displayed in a one-dimensional linear manner, each ROI traversed by the implant, and the start and end depths of the implant traversing each ROI; the ROIs traversed by the implant in different layers are marked with different colors, and the start and end depths of the implant traversing each ROI are marked with labels.

2. The virtual placement and interaction method for implants as described in claim 1, characterized in that, The re-rendering of the three-dimensional model of the cerebral cortex based on the real-time three-dimensional coordinates of the implant includes: Obtain the real-time three-dimensional coordinates of key points on the implant; Based on the real-time three-dimensional coordinates corresponding to the key points, anatomical ROI data is queried to determine the target brain region of the key points in the cerebral cortex. Acquire the electrophysiological data corresponding to the target brain region; Based on the electrophysiological data corresponding to the target brain region, the visual attributes of the key points are adjusted; the visual attributes of the key points include at least one of the following: the size of the key points, the color of the key points, and the brightness of the key points.

3. The virtual placement and interaction method for implants as described in claim 1, characterized in that, Also includes: Output the two-dimensional cross-sectional view.

4. The virtual placement and interaction method for implants as described in claim 1, characterized in that, The operation command is a movement command output by the human-computer interaction device to move the implant; updating the position of the implant and obtaining the real-time three-dimensional coordinates of the implant includes: Obtain the actual displacement corresponding to the movement command; Based on the actual displacement, the target displacement of the implant on the three-dimensional model of the cerebral cortex is obtained; Based on the target displacement, the real-time three-dimensional coordinates of the implant are obtained.

5. The virtual placement interaction method for implants as described in claim 1, characterized in that, The process of obtaining a three-dimensional model of the cerebral cortex includes: The acquired image data undergoes standard preprocessing and multimodal registration to generate a three-dimensional model file and an anatomical partition file corresponding to the image data; the image data includes at least one of the following: anatomical image data and implant image data; A three-dimensional model of the cerebral cortex is constructed based on the three-dimensional model file and the anatomical partition file.

6. An implant virtual placement interactive device, applied in a brain-computer interface, characterized in that, include: The model acquisition unit is used to acquire a three-dimensional model of the cerebral cortex. A three-dimensional coordinate acquisition unit is used to update the position of the implant and acquire the real-time three-dimensional coordinates of the implant in response to a received operation command; the implant is placed in a three-dimensional model of the cerebral cortex, or placed on the surface of a three-dimensional model of the cerebral cortex; the operation command is a movement command output by a human-computer interaction device to move the implant; The step of updating the position of the implant and obtaining the real-time three-dimensional coordinates of the implant includes: obtaining the three-dimensional convex hull of the three-dimensional model of the cerebral cortex and generating a proxy interaction surface; obtaining the displacement of the actual displacement corresponding to the movement command on the proxy interaction surface; projecting the final displacement on the proxy interaction surface onto the three-dimensional model of the cerebral cortex to obtain the target displacement of the implant on the three-dimensional model of the cerebral cortex; and obtaining the real-time three-dimensional coordinates of the implant based on the target displacement. The rendering unit is used to re-render the three-dimensional model of the cerebral cortex based on the real-time three-dimensional coordinates of the implant; The output unit is used to output a re-rendered three-dimensional model of the cerebral cortex; the implant is an invasive implant that penetrates the cerebral cortex, and the output unit is also used to: in response to receiving a profile generation command, obtain the three-dimensional trajectory of the implant; perform virtual cutting along the three-dimensional trajectory to obtain the intersection points of each anatomical region ROI traversed by the three-dimensional trajectory; generate a two-dimensional profile, the two-dimensional profile including: the trajectory of the implant displayed in a one-dimensional linear manner, each ROI traversed by the implant, and the start and end depths of the implant traversing each ROI; the ROIs traversed by the implant in different layers are marked with different colors, and the start and end depths of the implant traversing each ROI are marked with labels.

7. An interactive device for virtual placement of implants, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor runs the computer program, it performs the steps of the virtual implant placement interaction method according to any one of claims 1 to 5.

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