Method, apparatus, and system for determining electrode orientation applied to directional stimulation electrode

Abstract

A method, apparatus, and system for determining an electrode orientation applied to a directional stimulation electrode. The method comprises: acquiring a brain CT image corresponding to a target user whose brain is implanted with at least one directional stimulation electrode, and a preset marker image slice corresponding to the directional stimulation electrode (S110), the preset marker image slice comprising a preset marker orientation vector of a directional marker; on the basis of target trajectory information of the directional stimulation electrode in the brain CT image, determining, from the brain CT image, a target marker image slice comprising a directional marker image (S120); and matching the target marker image slice with the preset marker image slice, and determining the preset marker orientation vector corresponding to the matched preset marker image slice as a directional marker orientation of the directional stimulation electrode implanted in the brain (S130).

Description

Methods, apparatus and systems for determining electrode orientation for directional stimulation electrodes

[0001] This application claims priority to Chinese Patent Application No. 202411823849.9, filed with the Chinese Patent Office on December 11, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of information technology, and for example to a method, apparatus and system for determining the orientation of directional stimulation electrodes. Background Technology

[0003] Deep brain stimulation (DBS) is an invasive neuromodulation technique. This technique involves implanting stimulating electrodes into specific neural structures in the brain using stereotactic surgery, and then implanting a neurostimulator to connect to the electrodes. The DBS delivers adjustable and controllable weak electrical pulses, thereby altering the electrical activity and function of brain neural circuits and networks to control and improve patient symptoms.

[0004] Currently, novel DBS electrode designs allow the original circular stimulation output metal contacts to be divided into multiple segments. These electrodes support independent control of the stimulation output parameters of one or more segments, thereby achieving stimulation of brain tissue in a specific direction; hence, they are called "directional stimulation electrodes." After implantation, the orientation of the directional stimulation electrodes needs to be determined. The current solution is to add specific directional markers to the electrodes and then determine the orientation information of each segment by manually identifying the enhancement of these markers in post-DBS computed tomography (CT) images using human experience.

[0005] However, the problem with this method of judgment that relies on human experience is that it is heavily dependent on human judgment, resulting in low efficiency in judging the orientation of the segmented electrodes, strong subjectivity, large bias, low accuracy, and poor real-time performance in the identification results of the segmented electrode orientation. Summary of the Invention

[0006] This application provides a method, apparatus, and system for determining the orientation of directional stimulation electrodes, so as to improve the accuracy and efficiency of the orientation discrimination of directional stimulation electrodes, thereby improving the objectivity, accuracy, and real-time performance of the segmented electrode orientation identification results.

[0007] In a first aspect, embodiments of this application provide a method for determining the orientation of a directional stimulation electrode. The directional stimulation electrode includes a direction marker and at least two segmented electrodes. The relative positional relationship between the direction marker and each segmented electrode is fixed. The method includes:

[0008] Obtain a brain CT image of a target user whose brain has been implanted with at least one directional stimulation electrode, and a preset marker image slice corresponding to the directional stimulation electrode; wherein, the preset marker image slice includes a preset marker orientation vector corresponding to the directional marker;

[0009] Based on the target trajectory information of the directional stimulation electrode in the brain CT image, a target marker image slice containing directional marker images is determined from the brain CT image;

[0010] The target marker image slice is matched with the preset marker image slice, and the preset marker orientation vector corresponding to the matched preset marker image slice is determined as the orientation of the directional stimulation electrode implanted in the brain.

[0011] Secondly, embodiments of this application also provide an electrode orientation determination device for a directional stimulation electrode, wherein the directional stimulation electrode includes a direction marker and at least two segmented electrodes, and the relative positional relationship between the direction marker and each of the segmented electrodes is fixed. The device includes:

[0012] The CT image acquisition module is configured to acquire a brain CT image of a target user whose brain has been implanted with at least one directional stimulation electrode, and a preset marker image slice corresponding to the directional stimulation electrode; wherein, the preset marker image slice includes a preset marker orientation vector corresponding to the directional marker.

[0013] The image slice determination module is configured to determine a target marker image slice containing a directional marker image from the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image.

[0014] The marker orientation determination module is configured to match the target marker image slice with the preset marker image slice, and determine the preset marker orientation vector corresponding to the matched preset marker image slice as the orientation of the directional stimulation electrode implanted in the brain.

[0015] Thirdly, embodiments of this application also provide a medical system, the medical system comprising:

[0016] An implantable medical device, comprising at least a pulse generator implanted in the body of a target user and an electrode lead implanted in the cranium of the target user, wherein the implanted end of the electrode lead is provided with a directional stimulation electrode, the directional stimulation electrode including a direction indicator and at least two slice electrodes, and the pulse generator is connected to the electrode lead;

[0017] The processor is configured to acquire postoperative images of the target user after the implantation of electrode leads, execute an electrode orientation determination method for directional stimulation electrodes as described in any of the embodiments of this application, to determine the orientation of the directional stimulation electrodes in the target user's brain, and display the orientation of the directional stimulation electrodes on a display.

[0018] The display is configured to show the orientation of the directional stimulation electrodes.

[0019] Fourthly, embodiments of this application also provide an electronic device, including:

[0020] At least one processor; and

[0021] A memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the electrode orientation determination method for directional stimulation electrodes according to any embodiment of this application.

[0023] Fifthly, embodiments of this application also provide a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the electrode orientation determination method for directional stimulation electrodes as described in any embodiment of this application. Attached Figure Description

[0024] Figure 1 is a schematic diagram showing the difference between the sliced ​​electrode of the directional stimulation electrode involved in the embodiment of this application and the traditional ring electrode;

[0025] Figure 2 is a flowchart illustrating a method for determining the orientation of a directional stimulation electrode provided in an embodiment of this application.

[0026] Figure 3 is a schematic diagram of the development of the stimulating electrode involved in the embodiment of this application in CT images;

[0027] Figure 4 is a schematic diagram of extracting a slice of the target image containing the orientation marker image from a CT image of a skull mold, as described in the embodiments of this application.

[0028] Figure 5 is a schematic diagram of the preset marker image slice involved in the embodiments of this application;

[0029] Figure 6 is a comparison of the preprocessing results corresponding to the target identification image slices involved in the embodiments of this application;

[0030] Figure 7 is a schematic diagram of the target identification image slice rotating on the preset identification image slice in the embodiment of this application;

[0031] Figure 8 is a schematic diagram of an electrode orientation determination method for a directional stimulation electrode provided in an embodiment of this application;

[0032] Figure 9 is a schematic diagram of the target orientation vector in the target identification image slice involved in the embodiment of this application;

[0033] Figure 10 is a flowchart illustrating another method for determining the orientation of a directional stimulation electrode provided in an embodiment of this application.

[0034] Figure 11 is a schematic diagram of an electrode orientation determination device for a directional stimulation electrode provided in an embodiment of this application;

[0035] Figure 12 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0036] Figure 13 is a schematic diagram of the structure of a medical system provided in an embodiment of this application. Detailed Implementation

[0037] The embodiments provided in this application can be applied to the field of implantable medical devices. Implantable medical devices may include a pulse generator, electrode leads, and a programming device (or medical device). The pulse generator is implanted into the patient's body (e.g., the chest cavity, skull, etc.). The electrode leads are connected to the pulse generator subcutaneously at one end, and the other end of the electrode leads is equipped with segmented electrodes (i.e., directional stimulation electrodes). This part is implanted in a designated location in the patient's brain (e.g., nuclei or neural tissue associated with the disease). The doctor sends programming parameters to the pulse generator through the programming device. The pulse generator delivers electrical stimulation to at least one of the segmented electrodes through the electrode leads, causing the at least one electrode to generate an electric field to treat the corresponding disease. Therefore, determining the position of different segmented electrodes (i.e., the electrode orientation determined by the method described below) can determine the location of the electric field generation, thereby achieving the purpose of electrical stimulation targeting specific nucleus locations.

[0038] Before introducing the embodiments of this application, the directional stimulation electrode can be described first. Traditional DBS electrodes have circular metal contacts for stimulation output, and the entire electrode is rotationally symmetrical at any angle without a specific orientation. In contrast, the directional stimulation electrode breaks down the originally circular metal contacts into multiple pieces, and some even have irregularly shaped contact designs. These segmented electrodes support independent control of the stimulation output parameters of one or more segments, thereby achieving stimulation of brain tissue in a specific direction, hence the name "directional stimulation electrode." The directional stimulation electrode includes at least two segmented electrodes and a direction marker, the relative position of which is fixed. The direction marker is a physical hardware structure disposed on the directional stimulation electrode, also known as an image marker. This direction marker has certain specific mechanical structure and material properties, giving it certain radiographic features in cranial X-rays and / or cranial CT imaging, which are then used to identify the orientation indicated by the direction marker. Since the relative positional relationship between the orientation marker and each slice electrode is fixed, and the directional stimulation electrode is a rigid structure, the orientation information of each slice electrode in the patient's skull can be deduced by determining the orientation information of the orientation marker in the patient's skull.

[0039] For ease of understanding, in the following embodiments, the directional stimulation electrode is described as being composed of a three-part segmented electrode.

[0040] For example, Figure 1 illustrates the difference between the sliced ​​electrodes of the directional stimulation electrode and the traditional ring electrode. As shown in Figure 1, the stimulation electrode includes a ring electrode and a directional stimulation electrode. The metal ring contact wrapped around the outside of the wire in Figure 1 is the ring electrode, and its unfolded diagram is a large rectangle. Each rectangular metal contact wrapped around the outside of the wire is a sliced ​​electrode, and the corresponding display diagram of these sliced ​​electrodes is multiple small rectangles, with gaps between the small rectangles. The white rectangle at the top of Figure 1 is a direction marker. The sliced ​​electrode directly opposite the direction marker can be identified as sliced ​​electrode A, and the electrodes clockwise along sliced ​​electrode A are sliced ​​electrode B and sliced ​​electrode C, respectively. Since the distance between the direction marker and the sliced ​​electrodes is calibrated, based on this, and by determining the orientation information of the direction marker in three-dimensional space, the orientation information of sliced ​​electrode A, sliced ​​electrode B, and sliced ​​electrode C in three-dimensional space can be calculated.

[0041] Example 1

[0042] Figure 2 is a flowchart illustrating a method for determining the orientation of a directional stimulation electrode provided in an embodiment of this application. This embodiment is applicable to any situation where it is necessary to determine the orientation information of a directional stimulation electrode. The method can be executed by an electrode orientation determination device for a directional stimulation electrode. This device can be implemented in the form of software and / or hardware. The hardware can be an electronic device, such as a mobile terminal, a personal computer (PC) or a server.

[0043] As shown in Figure 2, the method for determining the electrode orientation of the directional stimulation electrode includes:

[0044] S110. Obtain the brain CT image of the target user who has at least one directional stimulation electrode implanted in his brain, and the preset labeled image slices corresponding to the directional stimulation electrode.

[0045] The target user is someone whose brain will soon be implanted with directional stimulation electrodes for orientation recognition. The target user already has one or more directional stimulation electrodes implanted in their brain. Brain CT imaging refers to tomographic imaging data obtained by using computed tomography (CT) technology to scan the target user's skull. CT technology primarily uses a single-axis X-ray to rotate and irradiate the target user's brain. Because different tissues have different absorption capacities (or radiopaque rates) of X-rays, three-dimensional images can be reconstructed using computer technology. Through window width and window level processing, tomographic images of the corresponding tissues can be obtained. Stacking these tomographic images layer by layer forms a three-dimensional image; that is, brain CT imaging can be understood as consisting of multiple layers of brain CT image slices, each layer being a two-dimensional brain CT image.

[0046] Preset-marked image slices are image slices determined based on directional markers in preset CT image data, which refers to CT images obtained by implanting directional stimulation electrodes into the mold. The preset-marked image slices include preset marker orientation vectors corresponding to the directional markers.

[0047] The following describes the method for determining the preset marker image slice. In this embodiment, the steps for determining the preset marker image slice corresponding to the directional stimulation electrode may include:

[0048] (1) According to the electrode implantation plan, the directional stimulation electrode is implanted into the preset head mold, and the head mold CT image corresponding to the preset head mold is scanned.

[0049] In this embodiment, an electrode implantation plan can be predetermined. For example, the electrode implantation plan can be an implantation path determined by the physician based on the target nucleus and the actual intracranial condition of the human body. This implantation path typically has a certain tilt angle. A pre-configured skull mold to simulate the real human brain can be pre-configured. Then, according to the electrode implantation plan, directional stimulation electrodes can be implanted into the pre-configured skull mold. Subsequently, computed tomography (CT) imaging technology can be used to perform tomographic scanning on the pre-configured skull mold with implanted directional stimulation electrodes, obtaining multi-layer skull mold CT image slices. The sum of these skull mold CT image slices constitutes the skull mold CT image.

[0050] (2) Based on the electrode trajectory information of the directional stimulation electrode in the CT image of the head mold, the target marker image slice containing the directional marker image is determined from the CT image of the head mold.

[0051] In this embodiment, based on the obtained CT images of the skull mold, an electrode trajectory tracking algorithm can be used to reconstruct the electrode trajectory coordinates from the skull mold CT image data. These electrode trajectory coordinates are the electrode trajectory information of the directional stimulation electrodes in the skull mold CT images. Based on the electrode trajectory coordinates, the location information of the directional markers in the skull mold CT images and the direction of the directional stimulation electrodes can be determined. Therefore, based on the location information of the directional markers and the direction of the directional stimulation electrodes, a slice of the target marker image containing the directional marker image can be extracted from the skull mold CT images.

[0052] Optionally, the method of extracting a slice of image containing orientation markers from a skull mold CT image can include at least the following two methods:

[0053] Method A1: Based on the electrode trajectory information of the directional stimulation electrode in the CT image of the skull mold and the calibration distance between the ventral contact point of the directional stimulation electrode and the directional marker, determine the candidate marker image slice containing the directional marker image from the multi-layer skull mold CT image slice in the skull mold CT image.

[0054] In this embodiment, the CT image of the skull mold includes multi-layer CT image slices of the skull mold, which are two-dimensional CT images of the skull mold.

[0055] For example, Figure 3 illustrates the imaging of the stimulating electrode in CT images. Figure 3(a) shows the cross-sectional imaging of the CT image, and Figure 3(b) shows the sagittal imaging of the CT image. It is evident that the imaging of the stimulating electrode in the CT image slice is significantly different from that of brain tissue. Based on this, the electrode trajectory information of the directional stimulating electrode in the CT image of the skull mold can be determined using methods such as threshold segmentation and target detection. Furthermore, the first CT image slice of the skull mold to which the most ventral contact of the directional stimulating electrode belongs can be identified. Based on the first CT image slice of the skull mold and the calibrated distance between the most ventral contact and the directional marker, at least one image slice containing the directional marker image can be identified from multiple layers of CT image slices of the skull mold. These image slices can then be averaged or filtered to obtain the usable image slices.

[0056] The second method, A2, involves extracting electrode trajectory coordinate data corresponding to the directional stimulation electrodes from the CT images of the skull mold; determining the ventral point position coordinates corresponding to the most ventral contact of the directional stimulation electrode and the electrode fitting line corresponding to the directional stimulation electrode based on the ventral point position coordinates and the calibration distance between the most ventral contact and the directional marker; determining the marker position coordinates of the directional marker in the CT images of the skull mold based on the ventral point position coordinates and the calibration distance between the most ventral contact and the directional marker; extracting a CT image slice of the skull mold from the CT images of the skull mold, centered on the marker position coordinates and perpendicular to the electrode fitting line; and extracting a circular CT image slice from the CT image slice of the skull mold based on a preset radius parameter, and determining the circular CT image slice as the marker image slice to be used, containing the directional marker image.

[0057] For example, an electrode trajectory tracking algorithm can be used to extract the electrode trajectory coordinate data corresponding to the directional stimulation electrode from the CT image data of the skull mold. For instance, the electrode trajectory coordinate data can be represented as {(103, 131, 142), (103, 131, 143), (104, 131, 144), (105, 132, 145), ..., (X, Y, Z)}, where each element represents the three-dimensional coordinates of the voxel constituting the directional stimulation electrode in the CT image data of the skull mold. Based on the coordinate values ​​of these electrode trajectory coordinate data, the ventral point position coordinates corresponding to the ventral contact point (i.e., the farthest endpoint of the electrode lead) of the directional stimulation electrode can be determined. Fitting these electrode trajectory coordinate data yields the electrode fitting line corresponding to the directional stimulation electrode. The calibration distance between the ventral contact point and the direction marker is an inherent property of the directional stimulation electrode. Based on this, the position coordinates of the direction marker in the CT image of the skull mold can be determined according to the ventral point position coordinates, the calibration distance, and the electrode fitting line. Using the coordinates of the marked location as the center, a plane perpendicular to the electrode fitting line can be extracted from the CT image of the skull mold. This extracted plane can be called a mold CT image slice. Since the mold CT image slice may have an irregular shape, it can be corrected to facilitate subsequent electrode orientation identification. Here, the shape of the mold CT image slice can be corrected by extracting a disk of a preset radius from it. Based on this, a circular CT image slice with a preset radius parameter can be extracted from the mold CT image slice, using the marked location coordinates as the center. This circular CT image slice is the target marked image slice containing the orientation marker image.

[0058] For example, a schematic diagram of extracting a target image slice containing orientation marker images from a CT image of a skull mold is shown in Figure 4. Figure 4 is a sagittal image of a CT image of a skull mold. The white linear image in Figure 4 represents the visualization of the entire stimulating electrode in the sagittal view. P in the figure... terminal This is the visualization of the most ventral contact of the directional stimulation electrode in a sagittal view, with P in the figure. marker This indicates the location area of ​​the center of the direction marker in the sagittal view. The calibration distance between the most ventral contact and the direction marker can be determined based on the type of directional stimulation electrode, denoted as d. Based on this, P... terminal Starting from the line fitted by the electrode, the point given by a vector of length d extending upwards along the line fitted by the electrode is denoted as P. marker Furthermore, with P marker Centered on the electrode, draw a disk with a radius of 4 mm (or other suitable default value) along the direction of the electrode normal (i.e., the plane shown by the thick black dashed line in Figure 4). This disk is the target image slice containing the direction marker image.

[0059] (3) Perform directional labeling processing on the image slice to be used to determine the preset label orientation vector in the image slice to be used.

[0060] In this embodiment, based on the obtained image slice of the target identifier, the orientation vector of the directional identifier in the image slice of the target identifier can be marked by conventional image recognition technology or by professional technicians. Based on the above example, a schematic diagram of the preset identifier image slice is shown in Figure 5. As shown in Figure 5, P... marker Starting from the "identifier orientation", the vector determined in the direction pointed to by the "identifier orientation" is the preset identification orientation vector.

[0061] (4) The image slice containing the preset label orientation vector is identified as the preset label image slice corresponding to the directional stimulation electrode.

[0062] In this embodiment, after completing the direction marking process of the image slice to be marked, the image slice to be marked containing the preset mark orientation vector can be determined as the preset mark image slice.

[0063] The preset labeled image slice can be understood as a standard image of a pre-set image label under CT scan, and the image label orientation of the preset labeled image slice is fixed.

[0064] When determining the preset marker image slices, multiple image slices to be used for markers can be extracted, and their respective P values ​​can be assigned. marker Point overlap is performed, and then all the above images are averaged to obtain an averaged image as the final preset labeled image slice.

[0065] S120. Based on the target trajectory information of the directional stimulation electrode in the brain CT image, determine the target marker image slice containing the directional marker image from the brain CT image.

[0066] The target trajectory information consists of the coordinate data of the electrode trajectory corresponding to the directional stimulation electrodes in the target user's brain CT images. The target marker image slice is an image slice determined based on the target trajectory information in the target user's brain CT images. It is understandable that the difference between the preset marker image slice and the target marker image slice is that the orientation of the markers corresponding to the directional markers in the preset marker image slice is determined, while the orientation of the markers in the target marker image slice is unknown and needs to be determined based on the preset marker image slice.

[0067] For example, determining target marker image slices containing directional marker images from brain CT images based on target trajectory information of directional stimulation electrodes in brain CT images can include the following two methods:

[0068] Method B1: Based on the target trajectory information of the directional stimulation electrode in the brain CT image and the calibration distance between the ventral contact point of the directional stimulation electrode and the directional marker, a target marker image slice containing the directional marker image is determined from the multi-layer brain CT image slices in the brain CT image.

[0069] In this embodiment, the brain CT images are multi-layered brain CT image slices, which are two-dimensional brain CT images. The electrode trajectory information of the directional stimulation electrode in the brain CT images can be determined using methods such as threshold segmentation and target detection. Furthermore, the first brain CT image slice to which the most ventral contact of the directional stimulation electrode belongs can be determined. Based on the first brain CT image slice and the calibrated distance between the most ventral contact and the directional marker, a target marker image slice containing the directional marker image can be determined from the multi-layered brain CT image slices.

[0070] The second method, B2, involves extracting the target electrode trajectory coordinate data corresponding to the directional stimulation electrode from brain CT images; determining the target ventral point position coordinates corresponding to the ventralmost contact point of the directional stimulation electrode and the target electrode fitting line corresponding to the directional stimulation electrode based on the target ventral point position coordinates and the calibration distance between the ventralmost contact point and the directional marker; determining the target marker position coordinates in the brain CT images based on the target ventral point position coordinates and the calibration distance between the ventralmost contact point and the directional marker; extracting brain CT image slices from the brain CT images within a plane centered on the target marker position coordinates and perpendicular to the target electrode fitting line; and extracting a target circular CT image slice from the brain CT image slices based on a preset radius parameter, and defining the target circular CT image slice as the target marker image slice containing the directional marker image.

[0071] For example, an electrode trajectory tracking algorithm can be used to extract the target electrode trajectory coordinate data corresponding to the directional stimulation electrode from brain CT image data. Based on the coordinate values ​​of these target electrode trajectory coordinate data, the target ventral point position coordinates corresponding to the most ventral contact point (i.e., the farthest end of the electrode lead) of the directional stimulation electrode can be determined. By fitting these target electrode trajectory coordinate data, a target electrode fitting line corresponding to the directional stimulation electrode can be obtained. The calibration distance between the most ventral contact point and the directional marker is an inherent property corresponding to the directional stimulation electrode. Based on this, according to the target ventral point position coordinates, the calibration distance, and the target electrode fitting line, the target marker position coordinates in the brain CT image data can be determined. A plane perpendicular to the target electrode fitting line can be extracted from the brain CT image data with the target marker position coordinates as the center; the extracted plane can be called a brain CT image slice. Furthermore, a circular CT image slice with a preset radius parameter can be extracted from the brain CT image slice with the target marker position coordinates as the center; this circular CT image slice is the target marker image slice containing the directional marker image.

[0072] If the candidate image slice is determined using the first method A1 when determining the preset marker image slice, then the target marker image slice is determined using the first method B1; if the candidate image slice is determined using the second method A2 when determining the preset marker image slice, then the target marker image slice is determined using the second method B2.

[0073] After obtaining the preset and target image slices, an image preprocessing step that automatically adjusts image contrast can be added to make imaging artifacts more prominent. For example, the comparison of preprocessing results corresponding to the target image slices is shown in Figure 6. Figure 6(a) shows the target image slice before preprocessing, and Figure 6(b) shows the target image slice after preprocessing. It can be seen that the bright / dark lines in the target image slice after preprocessing are clearer, highlighting the artifacts of the stimulating electrode in the CT image.

[0074] S130. Match the target marker image slice with the preset marker image slice, and determine the preset marker orientation vector corresponding to the matched preset marker image slice as the orientation of the directional stimulation electrode implanted in the brain.

[0075] The orientation of the directional markers refers to the imaging direction corresponding to the directional markers placed on the directional stimulation electrodes.

[0076] In this embodiment, matching the target marker image slice with a preset marker image slice to determine the orientation of the directional stimulation electrode implanted in the brain can be achieved in at least the following two ways:

[0077] The first method involves establishing a set of preset marker image slices, each corresponding to a different preset marker orientation vector. The target marker image slice is then matched one-to-one with each preset marker image slice to determine the matching degree. The preset marker image slice with the highest matching degree is designated as the reference marker image slice. The preset marker orientation vector corresponding to this reference marker image slice is then used as the orientation of the directional stimulation electrode implanted in the brain.

[0078] The second method involves adjusting the preset orientation vector of the preset identifier image slice to the preset direction of the current view, for example, directly above. Then, the preset identifier image slice and the target identifier image slice are superimposed based on their center points. Subsequently, the preset identifier image slice remains stationary, while the target identifier image slice rotates in a circle on the preset identifier image slice according to a preset angle step. For example, a schematic diagram of the target identifier image slice after rotation on the preset identifier image slice is shown in Figure 7. The light gray image in Figure 7 represents the preset identifier image slice, and the dark gray image in Figure 7 represents the target identifier image slice. Figure 7(a) shows a schematic diagram when the angle between the target identifier image slice and the preset identifier image slice is θ, and Figure 7(b) shows a schematic diagram when the angle between the target identifier image slice and the preset identifier image slice is 0. Specifically, the reference image in Figure 7 is the preset identifier image slice. After completing the circular rotation, multiple cumulative rotation angles and the difference degree corresponding to each cumulative rotation angle are obtained. Fitting these discrete data yields the objective function for the identifier angle and the difference degree. Therefore, based on the objective function, the target cumulative rotation angle corresponding to the target difference degree with the minimum difference degree can be determined. In the target identification image slice, a vector of arbitrary length in the direction of the cumulative rotation angle of the target relative to the initial reference direction is determined as the target orientation vector of the orientation identifier, which is also the orientation of the orientation identifier of the directional stimulation electrode implanted in the brain.

[0079] In this embodiment, a brain CT image of a target user with at least one directional stimulation electrode implanted in the brain is acquired, along with a preset marker image slice corresponding to the directional stimulation electrode. The preset marker image slice includes a preset marker orientation vector corresponding to the directional marker. Based on the target trajectory information of the directional stimulation electrode in the brain CT image, a target marker image slice containing the directional marker image is determined from the brain CT image. This target marker image slice is matched with the preset marker image slice, and the preset marker orientation vector corresponding to the matched preset marker image slice is determined as the directional marker orientation of the directional stimulation electrode implanted in the brain. This embodiment can automatically identify the directional marker orientation based on the target user's postoperative CT scan results and standard marker imaging results, improving the accuracy and efficiency of determining the directional marker orientation of the directional stimulation electrode, thereby improving the objectivity, accuracy, and real-time performance of the slice electrode orientation identification results.

[0080] Example 2

[0081] Figure 8 is a schematic diagram of an electrode orientation determination method for a directional stimulation electrode provided in an embodiment of this application. The implementation method for adjusting S130 based on the foregoing embodiments can be found in the description of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0082] As shown in Figure 8, the method includes the following steps:

[0083] S210. Obtain a brain CT image of a target user whose brain has been implanted with at least one directional stimulation electrode, and a preset label image slice corresponding to the directional stimulation electrode, wherein the preset label image slice includes a preset label orientation vector corresponding to the directional label.

[0084] S220. Based on the target trajectory information of the directional stimulation electrode in the brain CT image, determine the target marker image slice containing the directional marker image from the brain CT image.

[0085] S230. Adjust the preset label orientation vector of the preset label image slice to the preset direction of the current view, control the target label image slice to rotate in a circle on the preset label image slice, and determine the degree of difference between the target label image slice and the preset label image slice during the rotation.

[0086] The center point of both the target-marked image slice and the preset-marked image slice is the image data corresponding to the direction mark, and the two are the same size.

[0087] The preset direction is a pre-defined direction, such as directly upward, directly downward, or at a preset angle to directly upward. For ease of understanding, the preset direction can be set to directly upward. The difference degree is used to measure the difference between two images. In this embodiment, any image difference degree algorithm can be used to determine the difference between the target marker image slice and the preset marker image slice. For example, image difference degree algorithms can include pixel difference method, mean square error method, root mean square error method, mean absolute error method, etc. It should be noted that the image difference degree algorithm can also be other algorithms, as long as it can evaluate the difference between two images.

[0088] For example, based on the obtained preset marker image slice and target marker image slice, the preset marker orientation vector of the preset marker image slice can be adjusted to the preset direction of the current view, such as directly above. Then, the preset marker image slice and the target marker image slice are superimposed based on their center points. Subsequently, the preset marker image slice remains stationary, and the target marker image slice is controlled to rotate circularly on the preset marker image slice according to a preset angle step. During the rotation of the target marker image slice, the difference between the preset marker image slice and the target marker image slice is determined after each preset angle step.

[0089] Optionally, the implementation of S230 may include:

[0090] S2301. Adjust the preset label orientation vector of the preset label image slice to the preset direction of the current view, and perform overlap processing on the preset label image slice and the target label image slice based on the center point.

[0091] In this embodiment, based on the obtained preset marker image slice and target marker image slice, the preset marker orientation vector of the preset marker image slice is adjusted to the preset direction of the current view, for example, the preset direction is directly upward. Then, using the center point of the preset marker image slice and the target marker image slice as a reference, the preset marker image slice and the target marker image slice are overlapped.

[0092] S2302. Using the center point as the rotation axis, control the target marker image slice to rotate on the preset marker image slice according to the preset angle step size, and determine the difference between the target marker image slice and the preset marker image slice after each rotation.

[0093] The preset angle step size is a pre-defined rotation angle step size, for example, the preset angle step size can be 1°.

[0094] In this embodiment, after overlapping the preset marker image slice and the target marker image slice, the preset marker image slice remains stationary, while the target marker image slice rotates on top of the preset marker image slice. The rotation method could be, for example, using the center point of both the preset and target marker image slices as the rotation axis, rotating the target marker image slice by a preset angle step each time, and calculating the difference between the target marker image slice and the preset marker image slice after each rotation.

[0095] Optionally, the method for determining the difference between the target identifier image slice and the preset identifier image slice may include: determining the difference between the target identifier image slice and the preset identifier image slice based on the pixel difference at each pixel position of the target identifier image slice and the preset identifier image slice.

[0096] In this embodiment, the pixel values ​​at each corresponding pixel position of the target identifier image slice and the preset identifier image slice can be subtracted, and the pixel differences can be summed to obtain the degree of difference between the target identifier image slice and the preset identifier image slice.

[0097] S240. Based on the cumulative rotation angle of each difference degree and the target identifier image slice, determine the orientation of the directional stimulation electrode implanted in the brain.

[0098] The cumulative rotation angle refers to the sum of the angles of each rotation during the continuous rotation of the target marker image slice. The target orientation vector represents the development direction corresponding to the orientation marker in the target marker image slice.

[0099] In this embodiment, after the target identifier image slice completes circular rotation, multiple cumulative rotation angles and the difference degree corresponding to each cumulative rotation angle can be obtained. Therefore, the target difference degree with the smallest difference degree can be determined from all the difference degrees, and the target cumulative rotation angle corresponding to the target difference degree can be determined. At the initial moment when the target identifier image slice and the preset identifier image slice overlap, the mapping vector of the preset identifier orientation vector on the preset identifier image slice on the target identifier image slice is determined, and this mapping vector is determined as the initial reference direction. Furthermore, in the target identifier image slice, a vector of arbitrary length relative to the initial reference direction (the target cumulative rotation angle) is determined as the target orientation vector of the orientation identifier. This target orientation vector is the orientation of the directional stimulation electrode implanted in the brain.

[0100] For example, a schematic diagram of the target orientation vector in the target identification image slice is shown in Figure 9. In Figure 9(a), the small circle represents the preset identification image slice, and the large circle represents the target identification image slice (in reality, the target identification image slice and the preset identification image slice are the same size; the difference in size is only to effectively illustrate how to determine the target orientation vector). The preset identification image slice includes marker points A, B, C, and D, and the target identification image slice includes marker points W, X, Y, and Z. Figure 9(a) shows the initial position of each marker point at the initial moment of overlap between the target identification image slice and the preset identification image slice. At this time, the preset identification orientation vector OA in the preset identification image slice points directly above the current view, and the mapping vector of the preset identification orientation vector OA on the target identification image slice is vector OW. Assume that after the target identification image slice is rotated 360°, the cumulative rotation angle corresponding to the target difference is 52°. Based on this, in the target identification image slice, the vector OW can be used as the initial reference direction, and the vector OS in the direction of 52° relative to the initial reference direction (i.e., vector OW) can be determined as the target orientation vector of the orientation identification.

[0101] Optionally, the implementation steps of S240 may include:

[0102] S2401. Based on the cumulative rotation angle of each difference degree and the target identification image slice, construct a mapping function between the difference degree and the rotation angle.

[0103] In this embodiment, each cumulative rotation angle has a corresponding difference degree. Based on this, a two-dimensional discrete point set can be constructed according to each difference degree and the cumulative rotation angle of the target identifier image slice. This set is called the mapping function between the difference degree and the rotation angle. Alternatively, an interpolation algorithm can be used to perform interpolation fitting on each discrete point to obtain a continuous fitting function. This fitting function is also called the mapping function between the difference degree and the rotation angle.

[0104] S2402. Based on the mapping function, determine the target cumulative rotation angle when the difference meets the preset conditions.

[0105] The preset conditions may include, for example: a first preset condition, determining the cumulative rotation angle corresponding to the minimum difference as the target cumulative rotation angle; a second preset condition, determining the average cumulative rotation angle corresponding to at least one difference less than a preset threshold as the target cumulative rotation angle; and a third preset condition, taking the derivative of a continuous fitting function, calculating the minimum value of the continuous fitting function, and determining the cumulative rotation angle corresponding to the minimum value as the target cumulative rotation angle.

[0106] In this embodiment, if the mapping function is a two-dimensional discrete set of points, the cumulative rotation angle of the target can be determined by applying at least one of the first and second preset conditions. If the mapping function is a continuous fitting function, the cumulative rotation angle of the target can be determined by applying the third preset condition.

[0107] S2403. At the initial moment when the target marker image slice and the preset marker image slice overlap, determine the mapping vector of the preset marker orientation vector on the preset marker image slice on the target marker image slice, so as to determine the mapping vector as the initial reference direction.

[0108] In this embodiment, at the initial moment when the target marker image slice and the preset marker image slice overlap, the mapping vector of the preset marker orientation vector on the preset marker image slice to the target marker image slice can be recorded. Thus, this mapping vector on the target marker image slice can be determined as the initial reference direction.

[0109] S2404. In the target identification image slice, in the direction of the cumulative rotation angle of the target relative to the initial reference direction, determine the target orientation vector of the orientation marker, so as to determine the direction pointed to by the target orientation vector as the orientation of the orientation marker of the directional stimulation electrode implanted in the brain.

[0110] In this embodiment, based on the determined initial reference direction and target cumulative rotation angle, a vector of arbitrary length relative to the initial reference direction and the target cumulative rotation angle can be defined as the target orientation vector for the direction identifier. Therefore, the direction pointed to by the target orientation vector can be determined as the orientation of the directional stimulation electrode implanted in the brain.

[0111] In this embodiment, when determining the difference between a target identifier image slice and a preset identifier image slice, the preset identifier orientation vector of the preset identifier image slice is adjusted to a preset direction of the current view. The preset identifier image slice and the target identifier image slice are overlapped based on the center point. Using the center point as the rotation axis, the target identifier image slice is controlled to rotate on the preset identifier image slice according to a preset angle step size. After each rotation, the difference between the target identifier image slice and the preset identifier image slice is determined. When determining the target orientation vector of the orientation identifier in the target identifier image slice, a mapping function between the difference and the rotation angle is constructed based on each difference and the cumulative rotation angle of the target identifier image slice. Based on the mapping function, the target cumulative rotation angle when the difference satisfies a preset condition is determined. At the initial moment of overlap between the target identifier image slice and the preset identifier image slice, the mapping vector of the preset identifier orientation vector on the preset identifier image slice on the target identifier image slice is determined as the initial reference direction. In the target identifier image slice, the target orientation vector of the orientation identifier is determined from the direction relative to the initial reference direction, which is the target cumulative rotation angle. In this embodiment, by determining the mapping function between the difference degree and the rotation angle, the accuracy of the target orientation vector is improved, thereby enhancing the objectivity, accuracy, and real-time performance of the segmented electrode orientation recognition results.

[0112] Example 3

[0113] Figure 10 is a schematic diagram of an electrode orientation determination method for directional stimulation electrodes provided in an embodiment of this application. Based on the foregoing embodiments, and after obtaining the orientation of the directional stimulation electrodes, the orientation vector of each slice electrode in the three-dimensional space of the brain composed of brain CT images can be determined. The corresponding implementation method can be found in the description of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0114] As shown in Figure 10, the method includes the following steps:

[0115] S310. Obtain a brain CT image of a target user whose brain has been implanted with at least one directional stimulation electrode, and a preset label image slice corresponding to the directional stimulation electrode; wherein the preset label image slice includes a preset label orientation vector corresponding to the directional label.

[0116] S320. Based on the target trajectory information of the directional stimulation electrode in the brain CT image, extract the target marker image slice containing the directional marker image from the brain CT image.

[0117] S330. Match the target marker image slice with the preset marker image slice, and determine the preset marker orientation vector corresponding to the matched preset marker image slice as the orientation of the directional stimulation electrode implanted in the brain.

[0118] S340. Based on the orientation of the directional stimulation electrode implanted in the brain and the relative positional relationship between the orientation marker and each slice electrode, determine the slice electrode orientation vector of each slice electrode in the three-dimensional space of the brain composed of brain CT images.

[0119] In this embodiment, a three-dimensional brain space corresponding to the target user can be constructed based on the brain CT images of the target user. The mapping plane of the target identifier image slice in the three-dimensional brain space can be determined, and thus the mapping vector of the target orientation vector within this mapping plane can be determined. Based on the relative positional relationship between the orientation identifier and each slice electrode, the mapping vector can be transformed accordingly. The transformed mapping vector is the slice electrode orientation vector of the corresponding slice electrode in the three-dimensional brain space.

[0120] For example, continuing to refer to Figure 1, the center point of the direction marker and the center point of slice electrode A are on a straight line, and the distance between their center points is d; slice electrodes A, B, and C are distributed in three equal parts. After obtaining the mapping vector of the target orientation vector in the three-dimensional space of the brain, the mapping vector is translated downward by d along the direction of the directional stimulation electrode to obtain the first vector; the first vector is rotated 120° clockwise along the direction perpendicular to the directional stimulation electrode to obtain the second vector; the second vector is rotated again 120° clockwise along the direction perpendicular to the directional stimulation electrode to obtain the third vector. Based on this, the first vector is the slice electrode orientation vector of slice electrode A in the three-dimensional space of the brain; the second vector is the slice electrode orientation vector of slice electrode B in the three-dimensional space of the brain; and the third vector is the slice electrode orientation vector of slice electrode C in the three-dimensional space of the brain.

[0121] In this embodiment, based on the orientation of the directional stimulation electrodes implanted in the brain, the orientation vector of each segmented electrode in the three-dimensional space of the brain composed of brain CT images can be determined according to the orientation of the directional markers and their relative position to each segmented electrode. This embodiment can automatically identify the orientation of the directional markers based on the postoperative CT scan results and standard marker imaging results of the target user, thereby determining the orientation information corresponding to each segmented electrode, improving the objectivity, accuracy, and real-time performance of the segmented electrode orientation identification results.

[0122] Example 4

[0123] Figure 11 is a schematic diagram of an electrode orientation determination device for a directional stimulation electrode provided in an embodiment of this application. The directional stimulation electrode includes at least two segmented electrodes and a direction marker. The relative positional relationship between the direction marker and each segmented electrode is fixed. The device includes: a CT image acquisition module 410, an image slice determination module 420, and a marker orientation determination module 430.

[0124] The CT image acquisition module 410 is configured to acquire a brain CT image of a target user whose brain has been implanted with at least one directional stimulation electrode, and a preset label image slice corresponding to the directional stimulation electrode; wherein the preset label image slice includes a preset label orientation vector corresponding to the directional label.

[0125] The image slice determination module 420 is configured to determine target marker image slices containing directional marker images from brain CT images based on the target trajectory information of directional stimulation electrodes in brain CT images; wherein the center point of the target marker image slice and the preset marker image slice are both image data corresponding to the directional marker, and the two are the same size.

[0126] The marker orientation determination module 430 is configured to match the target marker image slice with the preset marker image slice, and determine the preset marker orientation vector corresponding to the matched preset marker image slice as the orientation of the directional stimulation electrode implanted in the brain.

[0127] Optionally, based on the above-mentioned device, the device may further include: a preset marker slice determination module, configured to determine the preset marker image slice corresponding to the directional stimulation electrode;

[0128] The preset identifier slice determination module includes:

[0129] The mold CT image determination unit is configured to implant the directional stimulation electrode into a preset head mold according to the electrode implantation plan, and scan the head mold CT image corresponding to the preset head mold.

[0130] The candidate slice extraction unit is configured to determine a candidate marker image slice containing directional marker images from the head mold CT image based on the electrode trajectory information of the directional stimulation electrode in the head mold CT image.

[0131] The orientation labeling unit is configured to perform orientation labeling processing on the image slice to be used, and determine the preset orientation vector of the orientation label in the image slice to be used.

[0132] The preset marker slice determination unit is configured to determine the candidate marker image slice containing the preset marker orientation vector as the preset marker image slice corresponding to the directional stimulation electrode.

[0133] Based on the above-mentioned device, optionally, the candidate slice extraction unit is configured to determine a candidate marker image slice containing the directional marker image from the multi-layer head mold CT image slice in the head mold CT image based on the electrode trajectory information of the directional stimulation electrode in the head mold CT image and the calibration distance between the most ventral contact point of the directional stimulation electrode and the directional marker.

[0134] Based on the above-mentioned device, optionally, the slice extraction unit includes:

[0135] The trajectory coordinate determination subunit is configured to extract electrode trajectory coordinate data corresponding to the directional stimulation electrodes from the CT images of the skull mold;

[0136] The trajectory coordinate processing subunit is configured to determine the ventral point position coordinates corresponding to the most ventral contact point of the directional stimulation electrode and the electrode fitting straight line corresponding to the directional stimulation electrode based on the electrode trajectory coordinate data.

[0137] The marker position determination subunit is configured to determine the marker position coordinates in the head mold CT image based on the ventral point position coordinates and the calibration distance between the ventralmost contact point and the directional marker;

[0138] The mold slice determination subunit is configured to extract a mold CT image slice from the head mold CT image in a plane centered at the identified position coordinates and perpendicular to the electrode fitting line.

[0139] The candidate slice extraction subunit is configured to extract a circular CT image slice from the mold CT image slice based on a preset radius parameter, and to determine the circular CT image slice as a candidate marker image slice containing a direction marker image.

[0140] Based on the above-mentioned device, optionally, the image slice determination module 420 is configured to determine a target marker image slice containing the direction marker image from multi-layer brain CT image slices in the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image and the calibration distance between the most ventral contact point of the directional stimulation electrode and the direction marker.

[0141] Based on the above-mentioned device, optionally, the image slice determination module 420 includes:

[0142] The target trajectory coordinate determination unit is configured to extract the target electrode trajectory coordinate data corresponding to the directional stimulation electrode from brain CT images;

[0143] The target trajectory coordinate processing unit is configured to determine the target ventral point position coordinates corresponding to the most ventral contact point of the directional stimulation electrode and the target electrode fitting straight line corresponding to the directional stimulation electrode based on the target electrode trajectory coordinate data.

[0144] The target identifier location determination unit is configured to determine the target identifier location coordinates in the brain CT image based on the target ventral point location coordinates and the calibration distance between the most ventral contact point and the directional identifier;

[0145] The brain slice determination unit is configured to extract brain CT image slices from brain CT images in a plane centered at the coordinates of the target identifier location and perpendicular to the target electrode fitting line.

[0146] The target slice extraction unit is configured to extract a target circular CT image slice from a brain CT image slice based on a preset radius parameter, and to determine the target circular CT image slice as a target marker image slice containing a direction marker image.

[0147] Optionally, based on the above-described device, the orientation determination module 430 includes:

[0148] The difference determination unit is configured to adjust the preset identifier orientation vector of the preset identifier image slice to the preset direction of the current view, control the target identifier image slice to rotate in a circle on the preset identifier image slice, and determine the difference between the target identifier image slice and the preset identifier image slice during the rotation process; wherein the center point of the target identifier image slice and the preset identifier image slice are both image data corresponding to the orientation identifier, and the two are the same size;

[0149] The orientation determination unit is configured to determine the orientation of the directional stimulation electrode implanted in the brain based on the differences and the cumulative rotation angle of the target identifier image slice.

[0150] Based on the above-mentioned device, optionally, the difference determination unit includes:

[0151] The slice overlap processing subunit is configured to adjust the preset label orientation vector of the preset label image slice to the preset direction of the current view, and perform overlap processing on the preset label image slice and the target label image slice based on the center point.

[0152] The difference determination subunit is configured to rotate the target marker image slice on the preset marker image slice with the center point as the rotation axis and according to the preset angle step size, and determine the difference between the target marker image slice and the preset marker image slice after each rotation.

[0153] Based on the above-mentioned device, optionally, the difference determination subunit is configured to determine the difference between the target identifier image slice and the preset identifier image slice based on the pixel difference at each pixel position of the target identifier image slice and the preset identifier image slice.

[0154] Based on the above-described device, optionally, the orientation determination unit includes:

[0155] The mapping function determines the sub-unit and is configured to construct a mapping function between the difference and the rotation angle based on the cumulative rotation angle of each difference and the target-identified image slice.

[0156] The target angle determination subunit is configured to determine the target cumulative rotation angle when the difference meets preset conditions based on a mapping function.

[0157] The initial orientation determination subunit is configured to determine, at the initial moment when the target identifier image slice and the preset identifier image slice overlap, the mapping vector of the preset identifier orientation vector on the preset identifier image slice on the target identifier image slice, so as to determine the mapping vector as the initial reference direction;

[0158] The target orientation determination subunit is configured to determine the target orientation vector of the orientation identifier in the target identifier image slice, in a direction that is the target cumulative rotation angle relative to the initial reference direction, so as to determine the direction pointed to by the target orientation vector as the orientation of the orientation identifier of the directional stimulation electrode implanted in the brain.

[0159] Optionally, based on the above-described device, the device may further include: a slice electrode orientation determination module, configured to determine the slice electrode orientation vector of each slice electrode in the three-dimensional space of the brain formed by the brain CT image based on the orientation of the directional stimulation electrode implanted in the brain and the relative positional relationship between the directional marker and each slice electrode.

[0160] In this embodiment, a brain CT image of a target user with at least one directional stimulation electrode implanted in the brain is acquired, along with a preset marker image slice corresponding to the directional stimulation electrode. The preset marker image slice includes a preset marker orientation vector corresponding to the directional marker. Based on the target trajectory information of the directional stimulation electrode in the brain CT image, a target marker image slice containing the directional marker image is determined from the brain CT image. The center points of both the target marker image slice and the preset marker image slice are image data corresponding to the directional marker, and both are of the same size. The target marker image slice and the preset marker image slice are matched, and the preset marker orientation vector corresponding to the matched preset marker image slice is determined as the directional marker orientation of the directional stimulation electrode implanted in the brain. This embodiment can automatically identify the directional marker orientation based on the postoperative CT scan results and standard marker imaging results of the target user, improving the accuracy and efficiency of the directional marker orientation discrimination of the directional stimulation electrode, thereby improving the objectivity, accuracy, and real-time performance of the slice electrode orientation identification results.

[0161] The electrode orientation determination device for directional stimulation electrodes provided in this application embodiment can execute the electrode orientation determination method for directional stimulation electrodes provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of executing the method.

[0162] The units and modules included in the above device are divided according to functional logic, but are not limited to the above division, as long as they can achieve the corresponding functions; in addition, the names of each functional unit are only for easy differentiation.

[0163] Example 5

[0164] Figure 12 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 12 shows an exemplary electronic device 50 suitable for implementing the embodiments of this application. The electronic device 50 shown in Figure 12 is an example.

[0165] As shown in Figure 12, the electronic device 50 is presented in the form of a general-purpose computing device. Components of the electronic device 50 may include, for example, one or more processors or processing units 501, a system memory 502, and a bus 503 connecting different system components (including the system memory 502 and the processing unit 501).

[0166] Bus 503 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures may include an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0167] Electronic device 50 may include, for example, a variety of computer system readable media. These media may be any available media that can be accessed by electronic device 50, including volatile and non-volatile media, removable and non-removable media.

[0168] System memory 502 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 504 and / or cache memory 505. Electronic device 50 may also include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 506 may be used to read and write non-removable, non-volatile magnetic media (commonly referred to as a "hard disk drive"). Exemplarily, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk may be provided. For example, removable non-volatile optical disks include compact disc read-only memory (CD-ROM), digital versatile disc read-only memory (DVD-ROM), or other optical media. In these cases, each drive may be connected to bus 503 via one or more data media interfaces. The memory 502 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0169] A program / utility 508 having a set (at least one) of program modules 507 may be stored, for example, in memory 502. Such program modules 507 may include, for example, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 507 typically perform the functions and / or methods described in the embodiments of this application.

[0170] Electronic device 50 can also communicate with one or more external devices 509 (e.g., keyboard, pointing device, general-purpose display 510, etc.), and with one or more devices that enable a user to interact with electronic device 50, and / or with any device that enables electronic device 50 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 511. Furthermore, electronic device 50 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 512. As shown, network adapter 512 communicates with other modules of electronic device 50 via bus 503. It should be understood that other hardware and / or software modules can be used in conjunction with electronic device 50, such as microcode, device drivers, redundant processing units, external disk drive arrays, Redundant Array of Independent Disks (RAID) systems, tape drives, and data backup storage systems.

[0171] The processing unit 501 executes various functional applications and page processing by running programs stored in the system memory 502, such as implementing the electrode orientation determination method for directional stimulation electrodes provided in the embodiments of this application.

[0172] Example 6

[0173] This application embodiment also provides a computer-readable storage medium storing computer instructions. These instructions are used to cause a computer processor to execute a method for determining the orientation of an electrode applied to a directional stimulation electrode. The directional stimulation electrode includes at least two segmented electrodes and a direction marker. The relative positional relationship between the direction marker and each segmented electrode is fixed. The method includes:

[0174] Obtain a brain CT image of a target user whose brain has been implanted with at least one directional stimulation electrode, and a preset marker image slice corresponding to the directional stimulation electrode; wherein, the preset marker image slice includes a preset marker orientation vector corresponding to the directional marker;

[0175] Based on the target trajectory information of the directional stimulation electrode in the brain CT image, a target marker image slice containing directional marker images is determined from the brain CT image;

[0176] The target marker image slice is matched with the preset marker image slice, and the preset marker orientation vector corresponding to the matched preset marker image slice is determined as the orientation of the directional stimulation electrode implanted in the brain.

[0177] The computer storage medium in this application embodiment can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. Examples of computer-readable storage media may include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0178] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, such as electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0179] The program code contained on a computer-readable medium may be transmitted using any suitable medium, such as wireless, wire, optical fiber, radio frequency (RF), or any suitable combination thereof.

[0180] Computer program code for performing the operations of the embodiments of this application can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network such as a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0181] Example 7

[0182] Figure 13 is a schematic diagram of a medical system provided in an embodiment of this application. The system includes: an implantable medical device 710, a processor 720, and a display 730. The implantable medical device 710, the processor 720, and the display 730 can communicate with each other. A memory is provided in the server, and the memory stores a computer program. The processor 720 is configured to execute the computer program to implement the electrode orientation determination method for directional stimulation electrodes in any embodiment of this application.

[0183] An implantable medical device 710 includes at least a pulse generator implanted in the body of a target user and an electrode lead implanted in the skull of the target user. The implanted end of the electrode lead is provided with a directional stimulation electrode, which includes a direction indicator and at least two slice electrodes. The pulse generator is connected to the electrode lead.

[0184] The processor 720 is configured to acquire postoperative images of the target user after the implantation of electrode leads, execute the electrode orientation determination method for directional stimulation electrodes according to any embodiment of the present application to determine the orientation of the directional stimulation electrodes in the target user's brain, and display the orientation of the directional stimulation electrodes using the display 730.

[0185] The display 730 is configured to display the orientation of the directional stimulation electrodes.

[0186] In this embodiment, the medical system includes an implantable medical device, an image processing server, and a display. In practical application, the processor acquires a brain CT image of a target user with at least one directional stimulation electrode implanted in their brain, as well as a preset marker image slice corresponding to the directional stimulation electrode. The preset marker image slice includes a preset marker orientation vector corresponding to the directional marker. Based on the target trajectory information of the directional stimulation electrode in the brain CT image, a target marker image slice containing the directional marker image is determined from the brain CT image. This target marker image slice is matched with the preset marker image slice, and the preset marker orientation vector corresponding to the matched preset marker image slice is determined as the directional marker orientation of the directional stimulation electrode implanted in the brain. Thus, the orientation of the directional stimulation electrode can be displayed on the display. This embodiment can automatically identify the directional marker orientation based on the target user's postoperative CT scan results and standard marker imaging results, improving the accuracy and efficiency of determining the directional marker orientation of the directional stimulation electrode, thereby improving the objectivity, accuracy, and real-time performance of the slice electrode orientation identification results.

Claims

1. A method for determining the orientation of a directional stimulation electrode, the directional stimulation electrode comprising a direction marker and at least two segmented electrodes, wherein the relative positional relationship between the direction marker and each of the segmented electrodes is fixed, the method comprising: The brain computed tomography (CT) images of a target user with at least one directional stimulation electrode implanted in the brain are acquired, as well as image slices with preset labels corresponding to the directional stimulation electrodes; wherein, the image slices with preset labels include a preset label orientation vector corresponding to the directional label. Based on the target trajectory information of the directional stimulation electrode in the brain CT image, a target marker image slice containing directional marker images is determined from the brain CT image; The target marker image slice is matched with the preset marker image slice, and the preset marker orientation vector corresponding to the matched preset marker image slice is determined as the orientation of the directional stimulation electrode implanted in the brain.

2. The method according to claim 1, further comprising: Determine the preset marker image slice corresponding to the directional stimulation electrode; The step of determining the preset marker image slice corresponding to the directional stimulation electrode includes: According to the electrode implantation plan, the directional stimulation electrode is implanted into the preset head mold, and the CT image of the head mold corresponding to the preset head mold is scanned. Based on the electrode trajectory information of the directional stimulation electrode in the CT image of the head mold, a candidate marker image slice containing directional marker images is determined from the CT image of the head mold. The image slice to be used for identification is subjected to direction identification annotation processing to determine the preset identification orientation vector of the direction identification in the image slice to be used for identification; The image slice containing the preset identifier orientation vector is identified as the preset identifier image slice corresponding to the directional stimulation electrode.

3. The method according to claim 2, wherein, The step of determining a candidate marker image slice containing directional marker images from the CT image of the head mold based on the electrode trajectory information of the directional stimulation electrode in the head mold CT image includes: Based on the electrode trajectory information of the directional stimulation electrode in the CT image of the skull mold and the calibration distance between the ventral contact point of the directional stimulation electrode and the directional marker, a candidate marker image slice containing the directional marker image is determined from the multi-layer skull mold CT image slice in the skull mold CT image.

4. The method according to claim 2, wherein, The step of determining a candidate marker image slice containing directional marker images from the CT image of the head mold based on the electrode trajectory information of the directional stimulation electrode in the head mold CT image includes: Extract the electrode trajectory coordinate data corresponding to the directional stimulation electrode from the CT image of the skull mold; Based on the electrode trajectory coordinate data, determine the ventral point position coordinates corresponding to the most ventral contact point of the directional stimulation electrode and the electrode fitting straight line corresponding to the directional stimulation electrode. Based on the coordinates of the ventral point and the calibration distance between the ventralmost contact point and the direction marker, the coordinates of the direction marker in the CT image of the skull mold are determined. From the head mold CT image, determine a mold CT image slice in a plane with the marked position coordinates as the center and perpendicular to the electrode fitting line; Based on a preset radius parameter, a circular CT image slice is extracted from the CT image slice of the mold, and the circular CT image slice is determined as a target marker image slice containing a direction marker image.

5. The method according to claim 1, wherein, The step of determining a target marker image slice containing directional marker images from the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image includes: Based on the target trajectory information of the directional stimulation electrode in the brain CT image and the calibration distance between the ventral contact point of the directional stimulation electrode and the directional marker, a target marker image slice containing the directional marker image is determined from the multi-layer brain CT image slice in the brain CT image.

6. The method according to claim 1, wherein, The step of determining a target marker image slice containing directional marker images from the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image includes: Extract the target electrode trajectory coordinate data corresponding to the directional stimulation electrode from the brain CT images; Based on the target electrode trajectory coordinate data, determine the target ventral point position coordinates corresponding to the most ventral contact point of the directional stimulation electrode and the target electrode fitting straight line corresponding to the directional stimulation electrode; Based on the target ventral point position coordinates and the calibration distance between the most ventral contact point and the direction marker, the target marker position coordinates of the direction marker in the brain CT image are determined; From the brain CT images, determine a slice of brain CT image in a plane centered at the coordinates of the target identifier location and perpendicular to the line fitted to the target electrode; Based on a preset radius parameter, a target circular CT image slice is extracted from the brain CT image slice, and the target circular CT image slice is determined as a target marker image slice containing directional marker images.

7. The method according to claim 1, wherein, The step of matching the target marker image slice with the preset marker image slice, and determining the preset marker orientation vector corresponding to the matched preset marker image slice as the orientation of the directional stimulation electrode implanted in the brain, includes: The preset identifier orientation vector of the preset identifier image slice is adjusted to the preset direction of the current view, and the target identifier image slice is controlled to rotate in a circle on the preset identifier image slice. During the rotation, the difference between the target identifier image slice and the preset identifier image slice is determined. The center point of the target identifier image slice and the preset identifier image slice are both image data corresponding to the orientation identifier, and the two are the same size. Based on the differences and the cumulative rotation angle of the target identifier image slice, the orientation of the directional stimulation electrode implanted in the brain is determined.

8. The method according to claim 7, wherein, The step of adjusting the preset marker orientation vector of the preset marker image slice to the preset direction of the current view, controlling the target marker image slice to rotate in a circle on the preset marker image slice, and determining the difference between the target marker image slice and the preset marker image slice during the rotation includes: The preset identifier orientation vector of the preset identifier image slice is adjusted to the preset direction of the current view, and the preset identifier image slice and the target identifier image slice are overlapped based on the center point; Using the center point as the rotation axis, the target identification image slice is controlled to rotate on the preset identification image slice according to a preset angle step size, and the difference between the target identification image slice and the preset identification image slice is determined after each rotation.

9. The method according to claim 8, wherein, Determining the difference between the target marker image slice and the preset marker image slice includes: The degree of difference between the target image slice and the preset image slice is determined based on the pixel difference at each pixel position of the target image slice and the preset image slice.

10. The method according to claim 7, wherein, The determination of the orientation of the directional stimulation electrode implanted in the brain based on the differences and the cumulative rotation angle of the target identifier image slice includes: Based on the difference degree and the cumulative rotation angle of the target identification image slice, a mapping function between the difference degree and the rotation angle is constructed; Based on the mapping function, determine the target cumulative rotation angle when the difference meets the preset conditions; At the initial moment when the target marker image slice and the preset marker image slice overlap, the mapping vector of the preset marker orientation vector on the preset marker image slice on the target marker image slice is determined, so as to determine the mapping vector as the initial reference direction; In the target identification image slice, in the direction of the target cumulative rotation angle relative to the initial reference direction, the target orientation vector of the direction identification is determined, so that the direction pointed to by the target orientation vector is determined as the orientation of the direction identification of the directional stimulation electrode implanted in the brain.

11. The method according to claim 1, further comprising: Based on the orientation of the directional stimulation electrode implanted in the brain and the relative positional relationship between the orientation marker and each of the segmented electrodes, the segmented electrode orientation vector of each of the segmented electrodes in the three-dimensional space of the brain formed by the brain CT image is determined.

12. An electrode orientation determination device for a directional stimulation electrode, the directional stimulation electrode including a direction marker and at least two slice electrodes, the relative positional relationship between the direction marker and each slice electrode being fixed, the device comprising: The CT image acquisition module is configured to acquire a brain CT image of a target user whose brain has been implanted with at least one directional stimulation electrode, and a preset marker image slice corresponding to the directional stimulation electrode; wherein, the preset marker image slice includes a preset marker orientation vector corresponding to the directional marker. The image slice determination module is configured to determine a target marker image slice containing a directional marker image from the brain CT image based on the target trajectory information of the directional stimulation electrode in the brain CT image. The marker orientation determination module is configured to match the target marker image slice with the preset marker image slice, and determine the preset marker orientation vector corresponding to the matched preset marker image slice as the orientation of the directional stimulation electrode implanted in the brain.

13. A medical system comprising: An implantable medical device, comprising at least a pulse generator implanted in the body of a target user and an electrode lead implanted in the cranium of the target user, wherein the implanted end of the electrode lead is provided with a directional stimulation electrode, the directional stimulation electrode including a direction indicator and at least two slice electrodes, and the pulse generator is connected to the electrode lead; The processor is configured to acquire postoperative images of the target user after the implantation of electrode leads, execute the electrode orientation determination method for directional stimulation electrodes according to any one of claims 1-11, to determine the orientation of the directional stimulation electrodes in the target user's brain, and display the orientation of the directional stimulation electrodes using a display. The display is configured to show the orientation of the directional stimulation electrodes.

14. An electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, which enables the at least one processor to perform the electrode orientation determination method for directional stimulation electrodes as described in any one of claims 1-11.

15. A computer-readable storage medium storing computer instructions that, when executed by a processor, implement the electrode orientation determination method for a directional stimulation electrode as described in any one of claims 1-11.

Images