Target implantation path determination method and device, electronic equipment and storage medium

Abstract

The application provides a target implantation path determination method and device, electronic equipment and storage medium, and belongs to the technical field of medical treatment. The method comprises the following steps: determining a reference direction of an implantation path based on a three-dimensional bone model reconstructed based on a preoperative medical image and a bone mask of a patient; constructing a plurality of candidate implantation paths based on a starting coordinate of screw implantation, screw parameters and the reference direction of the implantation path; performing bone density intensity evaluation, coverage safety evaluation and doctor clinical preference evaluation on each candidate implantation path respectively to obtain bone density intensity evaluation results, coverage safety evaluation results and doctor clinical preference evaluation results; and screening a target implantation path from the plurality of candidate implantation paths based on the bone density intensity evaluation results, the coverage safety evaluation results and the doctor clinical preference evaluation results. The application establishes an automatic planning system based on mathematical algorithms and objective data, and eliminates the subjectivity and inconsistency problems in manual planning.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical technology field, and in particular to a target implantation path determination method and device, electronic equipment and storage medium. BACKGROUND

[0002] In orthopedic surgery, screw implantation is a common technical means for fixing fractures, reconstructing joints, and supporting implants, and is widely used in various surgical scenarios, including but not limited to shoulder and knee joint replacement surgery. By implanting metal screws in bone tissue, the purpose of fixation, connection or remodeling of bone structure is achieved. Since important nerves and blood vessels and other soft tissues are often accompanied around the bone, the implantation path of the screw directly affects the fixation effect, surgical safety and patient prognosis, so that the selection of the screw path during the operation is extremely cautious, and it should be ensured that the screw is located inside the bone tissue to prevent it from penetrating out of the bone boundary and damaging these key tissues.

[0003] In related technical solutions, screw implantation mainly relies on personal experience and anatomical knowledge, and the starting point and direction of the screw are manually marked on preoperative computed tomography (CT) images or X-ray images. The doctor observes the two-dimensional image slices, combines the understanding of the anatomical structure of the bone, selects the appropriate screw hole position, and judges the implantation direction and depth of the screw according to experience, but the planning results of this method are highly dependent on the clinical experience level of the doctor and the understanding ability of the complex three-dimensional anatomical structure, and there are strong subjectivity and poor consistency problems. SUMMARY

[0004] The present application provides a target implantation path determination method, device, electronic equipment and storage medium to solve the problem that the implantation of the screw in the prior art is highly dependent on the clinical experience level of the doctor and the understanding ability of the complex three-dimensional anatomical structure, and there is strong subjectivity and poor consistency.

[0005] The present application provides a target implantation path determination method, comprising the following steps:

[0006] Determine the reference direction of the implantation path based on the preoperative medical images of the patient and the three-dimensional bone model reconstructed based on the bone mask;

[0007] Construct a plurality of candidate implantation paths based on the starting coordinates of the screw implantation, the screw parameters and the reference direction of the implantation path;

[0008] Perform bone density intensity evaluation, coverage safety evaluation and doctor clinical preference evaluation on each candidate implantation path respectively to obtain bone density intensity evaluation results, coverage safety evaluation results and doctor clinical preference evaluation results;

[0009] screening a target implantation path from the plurality of candidate implantation paths based on the bone density intensity evaluation result, the coverage safety evaluation result and the doctor clinical preference evaluation result.

[0010] The method for determining the target implantation path provided by the application determines a reference direction of the implantation path based on a three-dimensional bone model reconstructed based on a preoperative medical image and a bone mask of a patient, and specifically comprises the following steps:

[0011] determining a positioning plane based on at least three groups of non-collinear coordinate values on the three-dimensional bone model reconstructed based on the bone mask, and determining a first normal vector and a second normal vector of the positioning plane, wherein the first normal vector and the second normal vector are in opposite directions;

[0012] determining a first bone density value in the direction of the first normal vector and a second bone density value in the direction of the second normal vector based on the preoperative medical image of the patient;

[0013] taking the normal vector corresponding to the larger bone density value between the first bone density value and the second bone density value as the reference direction of the implantation path.

[0014] The method for determining the target implantation path provided by the application determines a first bone density value in the direction of the first normal vector and a second bone density value in the direction of the second normal vector based on the preoperative medical image of the patient, and specifically comprises the following steps:

[0015] determining n first sampling points in the direction of the first normal vector based on the preoperative medical image of the patient, and each of the first sampling points is associated with a bone density value;

[0016] determining n second sampling points in the direction of the second normal vector based on the preoperative medical image of the patient, and each of the second sampling points is associated with a bone density value;

[0017] taking the average value of the bone density values corresponding to the n first sampling points as the first bone density value, and taking the average value of the bone density values corresponding to the n second sampling points as the second bone density value.

[0018] The method for determining the target implantation path provided by the application, wherein the screw parameter comprises a screw length.

[0019] The method for determining the target implantation path provided by the application, wherein the method for constructing the plurality of candidate implantation paths based on the starting coordinates of the screw implantation, the screw parameter and the reference direction of the implantation path comprises the following steps:

[0020] The method for determining the target implantation path provided by the application, wherein the method for determining the conical space based on the starting coordinates of the screw implantation, the conical constraint angle, the screw length and the reference direction of the implantation path comprises the following steps:

[0021] determine implant directions of a plurality of screw implants based on the conical space and the starting coordinates of the screw implants;

[0022] determine the candidate implant paths based on the starting coordinates of the screw implants and the implant directions of the plurality of screw implants.

[0023] The method for determining a target implant path provided by the application comprises the following steps:

[0024] determine the center of the conical base surface based on the starting coordinates of the screw implants, the reference direction of the implant path and the length of the screw;

[0025] determine the radius of the conical base surface based on the length of the screw and the conical constraint angle, and the radius of the conical base surface and the center of the conical base surface define a first conical base surface;

[0026] determine the conical space based on the center of the conical base surface and the first conical base surface.

[0027] The method for determining a target implant path provided by the application comprises the following steps:

[0028] determine m equidistant points on the radius of the conical base surface from the center of the conical base surface in the conical space as a starting point and along a direction perpendicular to the reference direction of the implant path;

[0029] determine m concentric circles with the center of the conical base surface and the first conical base surface based on the m equidistant points on the radius of the conical base surface;

[0030] divide each of the concentric circles to obtain a plurality of equidistant points on the concentric circles;

[0031] determine implant directions of screw implants based on the starting coordinates of the screw implants and the plurality of equidistant points on each of the concentric circles.

[0032] The method for determining a target implant path provided by the application further comprises:

[0033] obtain a first shielding direction, which is a shielding direction determined based on an anatomical exclusion zone or an instrument restriction;

[0034] determine a cutting plane based on the first shielding direction, the starting coordinates of the screw implants and the reference direction of the implant path;

[0035] cut the conical space based on the cutting plane to obtain an updated conical space.

[0036] The target implantation path determination method provided by the application, the bone density intensity evaluation result is obtained by the following way:

[0037] Determine the set of equidivision points corresponding to the first candidate implantation path, the set of equidivision points includes the equidivision point coordinates on the first candidate implantation path, and the first candidate implantation path is any one of the plurality of candidate implantation paths.

[0038] Determine the set of sampling points corresponding to each equidivision point coordinate, the set of sampling points includes a plurality of third sampling points uniformly distributed on a sampling annulus, the sampling annulus is an annulus with the equidivision point coordinate as the center coordinate, the screw length as the radius, and perpendicular to the direction of the first candidate implantation path, and the set of sampling points is associated with an average bone density value determined based on the bone density values at the plurality of third sampling points.

[0039] According to the first candidate implantation path, the average bone density values corresponding to the set of sampling points corresponding to each equidivision point coordinate are normalized integrated to obtain the bone density intensity evaluation result.

[0040] The target implantation path determination method provided by the application, the coverage safety evaluation result is obtained by the following way:

[0041] Obtain the intersection volume value of the first cylinder and the three-dimensional bone model reconstructed by the bone mask, the first cylinder is a cylinder determined by the sampling annulus and the first candidate implantation path;

[0042] Obtain the ratio result of the intersection volume value and the volume value of the first cylinder;

[0043] Based on the comparison result of the ratio result and the preset ratio, the coverage safety evaluation result is obtained.

[0044] The target implantation path determination method provided by the application, the doctor clinical preference evaluation result is obtained by the following way:

[0045] Obtain the first included angle, the first included angle is the included angle between the direction of the first candidate implantation path and the reference direction of the implantation path;

[0046] Obtain the absolute difference value of the first included angle and the doctor clinical preference angle;

[0047] Based on the ratio of the absolute difference value and the ratio of the circumference, the doctor clinical preference evaluation result is obtained.

[0048] The application also provides a target implantation path determination device, comprising the following modules:

[0049] The determination module is used to determine the reference direction of the implantation path based on the patient's preoperative medical images and the 3D bone model reconstructed from the bone mask;

[0050] A construction module is used to construct multiple candidate implantation paths based on the starting coordinates of screw implantation, screw parameters, and the reference direction of the implantation path;

[0051] The evaluation module is used to perform bone mineral density strength assessment, coverage safety assessment, and physician clinical preference assessment for each candidate implantation path, and obtain the results of the bone mineral density strength assessment, coverage safety assessment, and physician clinical preference assessment.

[0052] The screening module is used to select a target implantation path from multiple candidate implantation paths based on the bone density strength assessment results, the coverage safety assessment results, and the physician clinical preference assessment results.

[0053] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for determining the target implantation path as described above.

[0054] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for determining the target implantation path as described above.

[0055] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the method for determining the target implantation path as described above.

[0056] This invention provides a method, apparatus, electronic device, and storage medium for determining the target implantation path. It determines the reference direction of the implantation path using preoperative medical images of the patient and a three-dimensional bone model reconstructed from a bone mask. Multiple candidate implantation paths are constructed based on the starting coordinates of screw implantation, screw parameters, and the reference direction of the implantation path. The target implantation path is then selected based on the bone density and strength assessment results, coverage and safety assessment results, and physician clinical preference assessment results for each candidate implantation path. In this process, an automated planning system based on mathematical algorithms and objective data is established, eliminating the subjectivity and inconsistency problems of manual planning. This ensures consistent and repeatable planning results under the same input conditions, establishing a unified planning standard and quality evaluation system for clinical practice. Attached Figure Description

[0057] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0058] Figure 1 is a flowchart of the method for determining the target implantation path provided by the present application;

[0059] Figure 2 is a schematic diagram of determining the positioning plane using the coordinate values corresponding to the three groups of non-collinear reference points provided by the present application;

[0060] Figure 3 is a schematic diagram of the semi-conical search space provided by the present application;

[0061] Figure 4 is a schematic diagram of the implantation path provided by the present application;

[0062] Figure 5 is a schematic diagram of the circular ring sampling points on the first candidate implantation path provided by the present application;

[0063] Figure 6 is a schematic block diagram of the device for determining the target implantation path provided by the present application;

[0064] Figure 7 is a structural schematic diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0065] In order to make the objects, technical solutions and advantages of the present application clearer, the following will combine the drawings in the present application to clearly and completely describe the technical solutions in the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present application.

[0066] It should be noted that in the description of the present application, the terms "comprising", "containing" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or device comprising the element. The orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0067] The terms "first", "second", and the like used in the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a class, and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" means at least one of the connected objects, and the character " / ", generally means that the front and rear associated objects are in an "or" relationship.

[0068] The following will be described in conjunction with Figures 1-7 The method for determining the target implantation path provided by the present application, device, electronic equipment and storage medium, aims to establish an automatic planning system based on mathematical algorithm and objective data, and eliminate the subjectivity and inconsistency in manual planning.

[0069] Figure 1 is one of the flowcharts of the method for determining the target implantation path provided by the present application, as Figure 1 shown, including but not limited to the following steps:

[0070] Step 101, determining the reference direction of the implantation path based on the three-dimensional bone model reconstructed based on the preoperative medical image and the bone mask of the patient.

[0071] In some embodiments, the medical image is a preoperative computed tomography (CT) image of the patient.

[0072] The bone mask is a binary image of the bone region, and the three-dimensional bone model reconstructed based on the bone mask can be understood as a three-dimensional bone model constructed based on the binary image of the bone region.

[0073] Step 102: constructing a plurality of candidate implantation paths based on the starting coordinates of the screw implantation, the screw parameters, and the reference direction of the implantation path.

[0074] The starting coordinates of the screw implantation can be understood as the coordinates of the screw implantation position.

[0075] Step 103: performing bone density intensity evaluation, coverage safety evaluation, and doctor clinical preference evaluation on each candidate implantation path, respectively, to obtain bone density intensity evaluation results, coverage safety evaluation results, and doctor clinical preference evaluation results.

[0076] Step 104: screening a target implantation path from the plurality of candidate implantation paths based on the bone density intensity evaluation results, the coverage safety evaluation results, and the doctor clinical preference evaluation results.

[0077] By determining the reference direction of the implantation path by using the preoperative medical image of the patient and the three-dimensional bone model reconstructed based on the bone mask, constructing a plurality of candidate implantation paths based on the starting coordinates of the screw implantation, the screw parameters, and the reference direction of the implantation path, and screening a target implantation path according to the bone density intensity evaluation results, the coverage safety evaluation results, and the doctor clinical preference evaluation results of each candidate implantation path, an automatic planning system based on mathematical algorithms and objective data is established in this process, the subjectivity and inconsistency problems in manual planning are eliminated, and consistent and repeatable planning results under the same input conditions are ensured, thereby establishing a unified planning standard and quality evaluation system for the clinic.

[0078] In some embodiments, a Pareto optimization problem is constructed based on the bone density intensity evaluation results, the coverage safety evaluation results, and the doctor clinical preference evaluation results, a solution result is obtained by solving the Pareto optimization problem, and then a target implantation path is screened from the plurality of candidate implantation paths according to the solution result.

[0079] In this embodiment, not only the maximization of bone density is pursued, but also the safety and feasibility of screw implantation are ensured, thereby providing multiple optimal solution choices for weighing different indicators for the clinician.

[0080] In some embodiments, the reference direction of the implantation path is determined based on the preoperative medical image of the patient and the three-dimensional bone model reconstructed based on the bone mask, specifically including:

[0081] Determine a positioning plane based on at least three groups of non-collinear coordinate values on the three-dimensional bone model reconstructed based on the bone mask, and determine a first normal vector and a second normal vector of the positioning plane, the first normal vector and the second normal vector being in opposite directions.

[0082] The at least three groups of non-collinear coordinate values can be obtained by preoperative planning of a doctor.

[0083] Exemplarily, as shown in Figure 2 , the positioning plane is determined using coordinate values corresponding to three groups of non-collinear reference points, where the three groups of non-collinear reference points are represented by point1, point2 and point3.

[0084] In some embodiments, the positioning plane is constructed based on a three-point geometry method, specifically, taking point1 as a base point, defining v1=point2-point1 and v2=point3-point1, and the normal vector of the plane is defined as .

[0085] The normal vector has two possible directions of ± .

[0086] In some embodiments, the initial position coordinates of the existing at least three screws can be used as the at least three groups of non-collinear coordinate values.

[0087] Determine a first bone density value in the direction of the first normal vector and a second bone density value in the direction of the second normal vector based on preoperative medical images of the patient.

[0088] Take the normal vector corresponding to the larger bone density value of the first bone density value and the second bone density value as the reference direction of the implantation path.

[0089] As can be seen from the above, the normal vector has two possible directions of ± , that is, and , where can be understood as the first normal vector in the present application, and can be understood as the second normal vector in the present application.

[0090] Since the screw needs to be implanted into the bone, the reference direction of the implantation path should also point to the inside of the bone, so the selected normal vector should point to the inside of the bone. Based on this, the first bone density value in the direction of the first normal vector and the second bone density value in the direction of the second normal vector can be determined based on preoperative medical images of the patient, and the normal vector corresponding to the larger bone density value is taken as the reference direction of the implantation path.

[0091] In this process, the objective information of "skeleton mask + bone density" can be used to automatically determine the reference direction of the implant path, eliminating the subjectivity and inconsistency problems in manual planning.

[0092] In some embodiments, based on the preoperative medical image of the patient, a first bone density value in the direction of the first normal vector and a second bone density value in the direction of the second normal vector are determined, specifically comprising:

[0093] Based on the preoperative medical image of the patient, n first sampling points in the direction of the first normal vector are determined, each first sampling point being associated with a bone density value;

[0094] Based on the preoperative medical image of the patient, n second sampling points in the direction of the second normal vector are determined, each second sampling point being associated with a bone density value;

[0095] The average of the bone density values corresponding to the n first sampling points is taken as the first bone density value, and the average of the bone density values corresponding to the n second sampling points is taken as the second bone density value.

[0096] In this embodiment, based on the preoperative medical image of the patient, n first sampling points in the direction of the first normal vector and n second sampling points in the direction of the second normal vector are determined, so as to obtain n bone density values corresponding to the n first sampling points and n bone density values corresponding to the n second sampling points. Since the n first sampling points are sampling points in the direction of the first normal vector, the average of the bone density values corresponding to the n first sampling points can be used to represent the bone density condition in the direction of the first normal vector. Similarly, the average of the bone density values corresponding to the n second sampling points can be used to represent the bone density condition in the direction of the second normal vector, and based on this, the reference direction of the implant path is determined.

[0097] In this embodiment, the objective information of "skeleton mask + bone density" can be used to automatically determine the reference direction of the implant path, eliminating the subjectivity and inconsistency problems in manual planning.

[0098] For example, based on the preoperative medical image of the patient, a ray with a test length of d is constructed in the direction of the first normal vector, n points are sampled on the ray to obtain n first sampling points, each first sampling point being associated with a bone density value, which is expressed as follows:

[0099] ;

[0100] Wherein, represents the coordinates of any entry point, represents the first test point in the positive direction of the first normal vector, ​indicates an index of the sampling point.

[0101] Based on the preoperative medical image of the patient, a ray with a test length of d is constructed in the direction of the second normal vector, n second sampling points are sampled on the ray, and each second sampling point is associated with a bone density value, which is expressed as follows:

[0102] ;

[0103] wherein, indicates any entry point coordinate, indicates the first test point in the negative direction of the second normal vector, indicates an index of the sampling point.

[0104] wherein, the bone density value corresponding to each sampling point is calculated by the following formula:

[0105] ;

[0106] wherein, indicates the Hounsfield unit of the CT value, that is, the CT value of the corresponding position of the sampling point in the computer tomography, indicates the converted bone density value (unit: mg / cm 3 ).

[0107] In some embodiments, the screw parameters include a screw length;

[0108] Based on the starting coordinates of the screw implantation, the screw parameters, and the reference direction of the implantation path, a plurality of candidate implantation paths are constructed, specifically including:

[0109] Based on the starting coordinates of the screw implantation, the conical constraint angle, the screw length, and the reference direction of the implantation path, a conical space is determined;

[0110] Based on the conical space and the starting coordinates of the screw implantation, implantation directions of a plurality of screw implantations are determined;

[0111] Based on the starting coordinates of the screw implantation and the implantation directions of the plurality of screw implantations, a plurality of candidate implantation paths are determined.

[0112] In this embodiment, the implantation path is not in any direction, but is strictly limited by the accessibility of surgical instruments and the anatomy of the scapula. Traditional linear search or simple angular sampling methods often fail to fully consider these clinical constraints, resulting in planning results that deviate from the actual surgical feasibility. By defining a conical space with the screw starting point as the vertex and the reference direction of the implantation path as the axis, i.e. the conical space in the present application, the ideal implantation angle range can be expressed. At the same time, the cone provides a natural geometric gradual change property, which facilitates systematic sampling through radial and circumferential resolution, ensuring the integrity of the implantation path search.

[0113] The implantation direction of the plurality of screw implantations determined with reference to the conical space can ensure that the generated candidate implantation path is within the conical space, so that the target implantation path screened under the clinical constraints reduces the occurrence of the situation that the planning result deviates from the actual surgical feasibility.

[0114] Specifically, taking the starting coordinates of the screw implantation as the starting point and taking the implantation direction of the screw implantation as the implantable direction can obtain the candidate implantation path.

[0115] In some embodiments, the conical space is determined based on the starting coordinates of the screw implantation, the conical constraint angle, the screw length and the reference direction of the implantation path, specifically comprising:

[0116] The conical base center is determined based on the starting coordinates of the screw implantation, the reference direction of the implantation path and the screw length;

[0117] The conical base radius is determined based on the screw length and the conical constraint angle, and the conical base radius and the conical base center define a first conical base;

[0118] The conical space is determined based on the conical base center and the first conical base.

[0119] In this embodiment, by defining a conical space with the screw starting point as the vertex and the reference direction of the implantation path as the axis, i.e. the conical space in the present application, the ideal implantation angle range can be expressed. At the same time, the cone provides a natural geometric gradual change property, which facilitates systematic sampling through radial and circumferential resolution, ensuring the integrity of the implantation path search.

[0120] Specifically, the starting coordinates of the screw implantation are taken as the conical vertex of the conical space, the screw length is taken as the height of the conical space, and the reference direction of the implantation path is taken as the direction from the conical vertex to the conical base center of the conical space, and then the conical space is constructed.

[0121] In some embodiments, the conical vertex is taken as the starting point, and the screw length is advanced along the reference direction of the implantation path at a distance, at which time the position is the conical base center.

[0122] Exemplarily, starting from the center of the bottom surface of the cone, proceed along any radius direction to the length of the bottom surface radius to the position, at which time the position is on the circumference of the first bottom surface of the cone.

[0123] wherein the conical space is represented by , wherein, is the vertex of the cone (i.e., the reference point of screw insertion, which is the starting coordinate of screw implantation in the present application), is the sampling point on the bottom surface of the cone (i.e., the coordinate of the end of the screw, which is the center of the bottom surface of the cone in the present application), is the reference direction of the implantation path in the foregoing, is the angle of the cone constraint, represents the angle between two vectors. The angle of the cone is defined as .

[0124] In some embodiments, the implantation directions of multiple screw implantations are determined based on the conical space and the starting coordinate of screw implantation, specifically comprising:

[0125] Starting from the center of the bottom surface of the cone in the conical space, along the reference direction perpendicular to the implantation path, m equidistant points on the bottom surface radius are determined;

[0126] Based on the m equidistant points on the bottom surface radius, m concentric circles with the center of the bottom surface of the first bottom surface are determined;

[0127] Each concentric circle is divided to obtain multiple equidistant points on the concentric circle;

[0128] Based on the starting coordinate of screw implantation and the multiple equidistant points on each concentric circle, the implantation direction of screw implantation is determined.

[0129] In this embodiment, by dividing the m concentric circles respectively, the first bottom surface of the cone can be divided equally in angle and distance, thereby obtaining multiple equidistant points on the first bottom surface of the cone. The direction of the line connecting the starting coordinate of screw implantation and the equidistant points is taken as the implantation direction of screw implantation.

[0130] In this process, dense sampling in the circumferential direction can be performed on each radial position circle. An innovative radial-circumferential dual-resolution sampling method is adopted to systematically generate candidate implantation paths on the bottom surface of the cone. By setting the radial resolution to control the number of concentric circles from the center to the edge, and setting the circumferential resolution to control the angle sampling density on each circumference, all possible implantation directions are systematically covered in all directions, thereby obtaining multiple candidate implantation paths with uniformly distributed implantation directions.

[0131] Exemplarily, starting from the center of the bottom surface of the cone, proceed along any radius direction to the length of the bottom surface radius the location is on the circumference of the bottom surface of the cone. This location and the center of the bottom surface can be connected to form a radius line segment. According to a preset radial resolution the radius is equally divided, and all the equally divided points are taken as the radial position points. These position points are uniformly distributed on the radius line segment starting from the center of the bottom surface of the cone, and each position point corresponds to a distance from the center to the point, that is, a different radius value:

[0132]

[0133] wherein, when , that is, corresponding to the coordinates of the center of the bottom surface of the cone, is the radius corresponding to the circumference of the bottom surface of the cone. A series of concentric circles are formed with the center of the bottom surface of the cone as the center and each radius value as the radius, and these concentric circles constitute a dense distribution in the radial direction.

[0134] For each radial position circle, a dense sampling in the circumferential direction is performed. Specifically, two orthogonal unit vectors perpendicular to the cone axis are generated as the reference direction of the circumferential sampling. Starting from the center of the bottom surface of the cone, the reference direction is rotated according to a preset circumferential resolution to divide the 360° circumference. For each circumferential angle, a sampling point on the cross-sectional circumference is obtained by advancing in the direction of the angle for a corresponding cross-sectional radius distance. All radial position points and circumferential angles are combined to obtain dense sampling points distributed in the entire bottom surface of the cone. A set of dense direction vectors is formed from the top of the cone to the end points of the sampling points, as candidate screw implantation directions.

[0135] In some embodiments, the method for determining a target implantation path further comprises:

[0136] obtaining a first shielding direction, the first shielding direction being a shielding direction determined based on an anatomical exclusion zone or an instrument restriction;

[0137] determining a cutting plane based on the first shielding direction, a starting coordinate of the screw implantation, and a reference direction of the implantation path;

[0138] cutting the conical space based on the cutting plane to obtain an updated conical space.

[0139] In this embodiment, for any orthopedic site requiring screw fixation, the entry point and feasible angle of the screw are often simultaneously limited by instrument accessibility, adjacent soft tissue, and interference between multiple screws, and cannot be implanted in all directions. Based on this, the shielding direction determined based on the anatomical exclusion zone or instrument limitation, i.e., the first shielding direction, is obtained, and the cutting plane is determined using the first shielding direction, the starting coordinates of screw implantation, and the reference direction of the implantation path. The conical space is cut using the cutting plane to obtain an updated conical space.

[0140] During this process, a half-cone can be cut out in the conical space, which can ensure safety while retaining sufficient angular redundancy, providing a unified geometric boundary for subsequent candidate path sampling and optimization.

[0141] For example, a complete circular cone is defined with a cone base radius of . The cone apex is the screw entry reference point , the cone axis direction is , i.e., the reference direction in the present application, the cone height is equal to the screw length , and the deflection half-angle is . ).

[0142] To exclude the anatomical exclusion zone inside the conical space, a cutting plane passing through the cone apex is constructed to generate a half-cone. Let the shielding direction given by the anatomical exclusion zone or instrument limitation be the unit vector . First, project this direction onto the plane perpendicular to the cone axis:

[0143] ;

[0144] The resulting is orthogonal to the cone axis and points to the half-space that needs to be retained. With as the normal vector, the cone apex S i is the point, the cutting plane can be represented as:

[0145]

[0146] The half-space on the positive side of the plane is retained:

[0147]

[0148] When there are multiple anatomical or instrument limitations, several groups of can be introduced, where represents the plane corresponding to the shielding direction given by the kth anatomical exclusion zone or instrument limitation, and a set of planes passing through the cone apex is obtained ​Finally, the semi-cone takes the intersection of each positive half-space to ensure that all constraints are satisfied simultaneously.

[0149] Based on this, the search space of the semi-cone after the cutting plane is defined as:

[0150]

[0151] in, Indicates the first The positive half-space of a constrained plane, when only a single constraint exists. .

[0152] Specifically, such as Figure 3 As shown, the cone-shaped space constructed by the cone vertex, the cone angle, the cone axis direction, and the candidate sampling points of the cone forms a semi-cone-shaped search space under the action of the cutting plane.

[0153] Among them, such as Figure 4 As shown, the conical candidate sampling point, which is also the selected screw end, can be used to obtain the implantation path when the screw insertion reference point and the screw end are known.

[0154] In this process, the search space is based on the defined semi-cone. Subsequent candidate path sampling will be strictly limited to this half-space, rather than the complete conical space. Sampling is performed during the process. This constraint ensures that all generated candidate paths comply with clinical anatomical limitations and surgical instrument accessibility requirements, avoiding the generation of invalid or dangerous implantation paths within restricted areas.

[0155] In some embodiments, the generated complete cone candidate sampling points are filtered to retain only those located at... The valid sampling points within. For each sampling point (Sampling points on the bottom of the cone) Verify whether they satisfy the half-space constraint conditions:

[0156]

[0157] in, S i It is the first i One screw insertion reference point.

[0158] A sampling point is retained as the endpoint of a valid candidate path only if it satisfies the above inequality. Candidate implantation paths under the semi-cone constraint are formed using the selected sampling points as endpoints.

[0159] In some embodiments, bone mineral density assessment results are obtained in the following ways:

[0160] Determine the set of equally divided points corresponding to the first candidate implantation path. The set of equally divided points includes the coordinates of the equally divided points on the first candidate implantation path. The first candidate implantation path is any one of the multiple candidate implantation paths.

[0161] Determine the set of sampling points corresponding to the coordinates of each equally divided point. The set of sampling points includes multiple third sampling points that are evenly distributed on the sampling ring. The sampling ring is a ring with the coordinates of the equally divided point as the center, the screw length as the radius, and perpendicular to the direction of the first candidate implantation path. The set of sampling points is associated with an average bone mineral density value determined based on the bone mineral density values ​​at multiple third sampling points.

[0162] According to the first candidate implantation path, the average bone mineral density value corresponding to the set of sampling points corresponding to each equally divided point is normalized and integrated to obtain the bone mineral density strength assessment result.

[0163] In this embodiment, the bone mineral density integral calculation method based on circular sampling fully considers the geometric characteristics of the screw and performs multi-point sampling on the circular ring to evaluate the actual contact quality between the screw and the surrounding bone tissue. This method can more accurately reflect the actual biomechanical situation of screw fixation, significantly improving the accuracy and clinical relevance of bone mineral density assessment. Specifically, a circular ring perpendicular to the screw direction is generated at each path sampling point, and the average value of bone mineral density at multiple points on the circular ring is calculated to evaluate the bone strength around the screw. This method can more realistically simulate the cylindrical geometric characteristics of the screw and provide a more accurate bone mineral density assessment.

[0164] For example, such as Figure 5 As shown, for the first candidate implantation path, sampling is performed along its implantation path, and the path integral resolution is set to... Divide the path into equal parts to obtain the set of sampling points on the path, which is also the set of equally divided points, as follows:

[0165]

[0166] in, , This is the unit vector for the path direction.

[0167] At the center of each path At that location, a perpendicular to The circular sampling points. The radius of the circular ring is equal to the radius of the screw. Evenly distributed on the ring One sampling point.

[0168] For each annular sampling point, the corresponding bone density value is calculated. At the same time, it is verified whether the sampling point is located in the bone mask, and only the sampling points in the effective bone region are retained. The average bone density of the effective sampling points on each annular ring is calculated. Finally, the average bone density of the effective annular rings on the path is integrated to obtain the total bone density integral of the screw path This annular sampling method can accurately reflect the contact between the screw and the bone.

[0169] wherein the normalized bone density integral is:

[0170]

[0171] wherein, is the bone density intensity evaluation result, is the maximum value of the total bone density integral is the minimum value of the total bone density integral

[0172] In some embodiments, the coverage safety evaluation result is obtained by the following way:

[0173] Obtaining the intersection volume value of the first cylinder and the three-dimensional bone model reconstructed by the bone mask, the first cylinder being a cylinder determined by the sampling annular ring and the first candidate implantation path;

[0174] Obtaining the ratio result of the intersection volume value and the volume value of the first cylinder;

[0175] Based on the comparison result of the ratio result and the preset ratio, the coverage safety evaluation result is obtained.

[0176] In this embodiment, the coverage safety evaluation result is represented by the formula:

[0177]

[0178] wherein, is the intersection volume of the cylinder formed by the path annular ring and the bone mask, that is, the intersection volume value of the first cylinder and the three-dimensional bone model reconstructed by the bone mask, is the total volume of the cylinder, that is, the volume value of the first cylinder.

[0179] In some embodiments, the preset ratio is 95%, that is, 95% is selected as the safety threshold, and if the coverage is lower than the 95% threshold, the path is marked as unsafe.

[0180] In some embodiments, the doctor's clinical preference evaluation result is obtained by the following way:

[0181] ​​obtaining a first included angle, the first included angle being an included angle between a direction in which the first candidate implant path is located and a reference direction of the implant path;

[0182] obtaining an absolute difference value between the first included angle and the clinician preferred angle;

[0183] obtaining a clinician preference evaluation result based on a ratio of the absolute difference value to the ratio of the circumference of a circle.

[0184] In this embodiment, the clinician preference evaluation result is expressed as:

[0185]

[0186] wherein, is an included angle between the path direction and , that is, the first included angle, is a target angle preferred by the clinician (generally ). The score reflects the degree of deviation of the path from the clinician's clinical experience, and the closer the score is to 1, the more consistent it is with the doctor's habits.

[0187] In this embodiment, the NSGA-II algorithm is used for multi-objective optimization, and multiple solutions are selected from the Pareto frontier according to the following priority order:

[0188] Pareto level: prefer solutions of level 1 (first frontier);

[0189] crowding distance: prefer solutions with larger crowding distance within the same level;

[0190] clinical preference: prefer solutions that are more consistent with the clinician's angle preference among multiple equivalent solutions;

[0191] This multi-objective optimization method overcomes the limitations of traditional single-objective methods, providing personalized selection based on scientific calculations for clinicians, ensuring the safety and success rate of surgery, and respecting the clinician's clinical experience and preferences.

[0192] It should be noted that the target implant path determination device provided by the present application can execute the target implant path determination method of any of the above embodiments when actually running, and this embodiment will not be repeated.

[0193] As shown in Figure 6 , the target implant path determination device provided by the present application comprises:

[0194] The determination module 601 is configured to determine a reference direction of the implant path based on a preoperative medical image of the patient and a three-dimensional bone model reconstructed by a bone mask;

[0195] The construction module 602 is configured to construct a plurality of candidate implantation paths based on the starting coordinates of screw implantation, screw parameters and a reference direction of the implantation path.

[0196] The evaluation module 603 is configured to respectively perform bone density intensity evaluation, coverage safety evaluation and doctor clinical preference evaluation on each candidate implantation path to obtain bone density intensity evaluation results, coverage safety evaluation results and doctor clinical preference evaluation results.

[0197] The screening module 604 is configured to screen a target implantation path from the plurality of candidate implantation paths based on the bone density intensity evaluation results, the coverage safety evaluation results and the doctor clinical preference evaluation results.

[0198] In this embodiment, the reference direction of the implantation path is determined by using a three-dimensional bone model reconstructed based on a preoperative medical image of a patient and a bone mask, a plurality of candidate implantation paths are constructed based on the starting coordinates of screw implantation, screw parameters and the reference direction of the implantation path, and a target implantation path is screened according to the bone density intensity evaluation results, the coverage safety evaluation results and the doctor clinical preference evaluation results of each candidate implantation path. In this process, an automatic planning system based on mathematical algorithms and objective data is established, the subjectivity and inconsistency problems in manual planning are eliminated, consistent and repeatable planning results under the same input conditions are ensured, and a unified planning standard and quality evaluation system is established for the clinic.

[0199] Figure 7 is a structural schematic diagram of an electronic device provided by the present application, as Figure 7 shown, the electronic device can include a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 complete mutual communication through the communication bus 740. The processor 710 can invoke logical instructions in the memory 730 to execute a target implantation path determination method, which includes determining a reference direction of an implantation path based on a three-dimensional bone model reconstructed based on a preoperative medical image of a patient and a bone mask, constructing a plurality of candidate implantation paths based on the starting coordinates of screw implantation, screw parameters and the reference direction of the implantation path, respectively performing bone density intensity evaluation, coverage safety evaluation and doctor clinical preference evaluation on each candidate implantation path to obtain bone density intensity evaluation results, coverage safety evaluation results and doctor clinical preference evaluation results, and screening a target implantation path from the plurality of candidate implantation paths based on the bone density intensity evaluation results, the coverage safety evaluation results and the doctor clinical preference evaluation results.

[0200] Further, the logic instructions in the memory 730 described above can be implemented by a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or partially contribute to the prior art, or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and various media that can store program codes.

[0201] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute the target implantation path determination method provided by the above-mentioned embodiments, and the method comprises the following steps: determining a reference direction of an implantation path based on a preoperative medical image of a patient and a three-dimensional bone model reconstructed by a bone mask; constructing a plurality of candidate implantation paths based on a starting coordinate of a screw implantation, a screw parameter and the reference direction of the implantation path; performing bone density intensity evaluation, coverage safety evaluation and doctor clinical preference evaluation on each candidate implantation path respectively to obtain bone density intensity evaluation results, coverage safety evaluation results and doctor clinical preference evaluation results; and screening a target implantation path from the plurality of candidate implantation paths based on the bone density intensity evaluation results, the coverage safety evaluation results and the doctor clinical preference evaluation results.

[0202] In another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the target implantation path determination method provided by the above-mentioned embodiments, and the method comprises the following steps: determining a reference direction of an implantation path based on a preoperative medical image of a patient and a three-dimensional bone model reconstructed by a bone mask; constructing a plurality of candidate implantation paths based on a starting coordinate of a screw implantation, a screw parameter and the reference direction of the implantation path; performing bone density intensity evaluation, coverage safety evaluation and doctor clinical preference evaluation on each candidate implantation path respectively to obtain bone density intensity evaluation results, coverage safety evaluation results and doctor clinical preference evaluation results; and screening a target implantation path from the plurality of candidate implantation paths based on the bone density intensity evaluation results, the coverage safety evaluation results and the doctor clinical preference evaluation results.

[0203] The device embodiments described above are merely illustrative, wherein the units illustrated as separate components can or can not be physically separate, and the components illustrated as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0204] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, and the computer software products can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and include a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of the embodiments or some parts of the embodiments.

[0205] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining a target implantation path, characterized in that, include: The reference direction for the implantation path is determined based on the patient's preoperative medical images and a 3D bone model reconstructed from a bone mask. Multiple candidate implantation paths are constructed based on the starting coordinates of screw implantation, screw parameters, and the reference direction of the implantation path. For each candidate implantation pathway, bone mineral density strength assessment, coverage safety assessment, and physician clinical preference assessment were performed to obtain the results of the bone mineral density strength assessment, coverage safety assessment, and physician clinical preference assessment. The target implantation path is selected from multiple candidate implantation paths based on the bone mineral density strength assessment results, the coverage safety assessment results, and the physician clinical preference assessment results. The bone mineral density assessment results were obtained through the following methods: Determine the set of equally divided points corresponding to the first candidate implantation path, the set of equally divided points including the coordinates of equally divided points on the first candidate implantation path, the first candidate implantation path being any one of a plurality of candidate implantation paths; Determine the set of sampling points corresponding to the coordinates of each equally divided point. The set of sampling points includes multiple third sampling points that are evenly distributed on a sampling ring. The sampling ring is a ring with the coordinates of the equally divided point as the center, the screw length as the radius, and perpendicular to the direction of the first candidate implantation path. The set of sampling points is associated with an average bone density value determined based on the bone density values ​​at multiple third sampling points. According to the first candidate implantation path, the average bone mineral density value corresponding to the set of sampling points corresponding to each equally divided point coordinate is normalized and integrated to obtain the bone mineral density strength assessment result. The coverage security assessment results were obtained through the following methods: Obtain the intersection volume value of the first cylinder and the three-dimensional bone model reconstructed by the bone mask, wherein the first cylinder is a cylinder determined by the sampling ring and the first candidate implantation path; Obtain the ratio of the intersection volume value to the volume value of the first cylinder; Based on the comparison between the ratio result and the preset ratio, the coverage security assessment result is obtained.

2. The method for determining the target implantation path according to claim 1, characterized in that, The reference direction for determining the implantation path based on the three-dimensional bone model reconstructed from the patient's preoperative medical images and bone mask specifically includes: At least three sets of non-collinear coordinate values ​​on a 3D bone model reconstructed based on a bone mask are used to determine a positioning plane, and a first normal vector and a second normal vector of the positioning plane are determined, wherein the first normal vector and the second normal vector have opposite directions. Based on the patient's preoperative medical images, a first bone mineral density value in the direction of the first normal vector and a second bone mineral density value in the direction of the second normal vector are determined respectively. The normal vector corresponding to the larger of the first and second bone mineral density values ​​is used as the reference direction for the implantation path.

3. The method for determining the target implantation path according to claim 2, characterized in that, The step of determining a first bone mineral density value in the direction of the first normal vector and a second bone mineral density value in the direction of the second normal vector based on the patient's preoperative medical images specifically includes: Based on the patient's preoperative medical images, n first sampling points are determined in the direction of the first normal vector, and each first sampling point is associated with a bone density value. Based on the patient's preoperative medical images, n second sampling points are determined in the direction of the second normal vector, and each second sampling point is associated with a bone density value; The average of the bone density values ​​corresponding to the n first sampling points is taken as the first bone density value, and the average of the bone density values ​​corresponding to the n second sampling points is taken as the second bone density value.

4. The method for determining the target implantation path according to claim 1, characterized in that, The screw parameters include screw length; The construction of multiple candidate implantation paths based on the starting coordinates of screw implantation, screw parameters, and the reference direction of the implantation path specifically includes: The conical space is determined based on the starting coordinates of the screw implantation, the conical constraint angle, the screw length, and the reference direction of the implantation path. The implantation directions of multiple screws are determined based on the conical space and the starting coordinates of the screw implantation. Multiple candidate implantation paths are determined based on the starting coordinates of the screw implantation and the implantation directions of the multiple screw implantations.

5. The method for determining the target implantation path according to claim 4, characterized in that, The determination of the conical space based on the starting coordinates of the screw implantation, the conical constraint angle, the screw length, and the reference direction of the implantation path specifically includes: The center of the cone base is determined based on the starting coordinates of the screw implantation, the reference direction of the implantation path, and the screw length. The radius of the cone base is determined based on the screw length and the cone constraint angle, and the radius of the cone base and the center of the cone base define a first cone base. The conical space is determined based on the center of the cone's base and the first cone's base.

6. The method for determining the target implantation path according to claim 5, characterized in that, The determination of the implantation direction of multiple screws based on the conical space and the starting coordinates of screw implantation specifically includes: Starting from the center of the cone base in the cone-shaped space, along a reference direction perpendicular to the implantation path, determine m equally divided points on the radius of the cone base; Based on m equally divided points on the radius of the cone base, determine m concentric circles with the same center as the first cone base; Divide each of the concentric circles into equal parts to obtain multiple dividing points on the concentric circles; The implantation direction of the screw is determined based on the starting coordinates of the screw implantation and the multiple equally spaced points on each of the concentric circles.

7. The method for determining the target implantation path according to claim 4, characterized in that, The method for determining the target implantation path also includes: Obtain a first shielding direction, which is a shielding direction determined based on anatomical restricted areas or instrument limitations; The cutting plane is determined based on the first shielding direction, the starting coordinates of screw implantation, and the reference direction of the implantation path; The conical space is cut based on the cutting plane to obtain the updated conical space.

8. The method for determining the target implantation path according to any one of claims 1 to 7, characterized in that, The physician clinical preference assessment results were obtained through the following methods: Obtain the first included angle, which is the angle between the direction of the first candidate implantation path and the reference direction of the implantation path; Obtain the absolute difference between the first included angle and the angle preferred by the doctor in clinical practice; The doctor's clinical preference assessment result is obtained based on the ratio of the absolute difference to pi.

9. A device for determining a target implantation path, characterized in that, include: The determination module is used to determine the reference direction of the implantation path based on the patient's preoperative medical images and the 3D bone model reconstructed from the bone mask; A construction module is used to construct multiple candidate implantation paths based on the starting coordinates of screw implantation, screw parameters, and the reference direction of the implantation path; The evaluation module is used to perform bone mineral density strength assessment, coverage safety assessment, and physician clinical preference assessment for each candidate implantation path, and obtain the results of the bone mineral density strength assessment, coverage safety assessment, and physician clinical preference assessment. The screening module is used to select a target implantation path from multiple candidate implantation paths based on the bone density strength assessment results, the coverage safety assessment results, and the physician clinical preference assessment results; The bone mineral density assessment results were obtained through the following methods: Determine the set of equally divided points corresponding to the first candidate implantation path, the set of equally divided points including the coordinates of equally divided points on the first candidate implantation path, the first candidate implantation path being any one of a plurality of candidate implantation paths; Determine the set of sampling points corresponding to the coordinates of each equally divided point. The set of sampling points includes multiple third sampling points that are evenly distributed on a sampling ring. The sampling ring is a ring with the coordinates of the equally divided point as the center, the screw length as the radius, and perpendicular to the direction of the first candidate implantation path. The set of sampling points is associated with an average bone density value determined based on the bone density values ​​at multiple third sampling points. According to the first candidate implantation path, the average bone mineral density value corresponding to the set of sampling points corresponding to each equally divided point coordinate is normalized and integrated to obtain the bone mineral density strength assessment result. The coverage security assessment results were obtained through the following methods: Obtain the intersection volume value of the first cylinder and the three-dimensional bone model reconstructed by the bone mask, wherein the first cylinder is a cylinder determined by the sampling ring and the first candidate implantation path; Obtain the ratio of the intersection volume value to the volume value of the first cylinder; Based on the comparison between the ratio result and the preset ratio, the coverage security assessment result is obtained.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for determining the target implantation path as described in any one of claims 1 to 8.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method for determining the target implantation path as described in any one of claims 1 to 8.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method for determining the target implantation path as described in any one of claims 1 to 8.

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