CN115120880A

CN115120880A - Method, device and system for implanting nerve stimulation electrode and displaying nerve nucleus

Info

Publication number: CN115120880A
Application number: CN202210784403.4A
Authority: CN
Inventors: 郑翊宸; 陈浩
Original assignee: Beijing Pins Medical Co Ltd
Current assignee: Beijing Pins Medical Co Ltd
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2022-09-30

Abstract

The invention provides an implanted nerve stimulation electrode and a method, a device and a system for displaying a nerve nucleus, wherein the method comprises the following steps: acquiring electrode position transformation data from external equipment, wherein the electrode position transformation data is data obtained by adjusting the initial position of an electrode model in the external equipment according to the electrode position displayed by a medical image of an electrode implantation part of a patient and calculating according to the adjusted electrode position and the initial position of the electrode model; calculating to obtain transformed electrode model position data by using the electrode position transformation data and initial position data of the electrode model prestored by the program control device; and displaying the electrode model after the transposition and the nerve nucleus model in the same space.

Description

Method, device and system for implanting nerve stimulation electrode and displaying nerve nucleus

Technical Field

The invention relates to the field of medical equipment, in particular to an implanted nerve stimulation electrode and a method, a device and a system for displaying a nerve nucleus.

Background

Neurostimulation therapy can be used for treating various diseases, for example, deep brain electrical stimulation therapy is an effective means for treating diseases such as Parkinson's disease, essential tremor, dystonia, obsessive-compulsive disorder and the like; vagus nerve stimulation therapy can be used for treating epilepsy and inhibiting epileptic seizure; similarly, there are spinal nerve stimulation therapies, sacral nerve stimulation therapies, and the like.

Neurostimulation therapy requires implanting a pulse generator, extension leads and electrodes into the body, controlling through extracorporeal devices, and transmitting electrical pulses to specific areas to control disease symptoms. When stimulation is applied, stimulation parameters need to be adjusted through the extracorporeal device, so that different stimulation effects are realized. For example, the stimulation position is changed by adjusting the polarity of the contact points, and the stimulation influence range is changed by modifying the amplitude, the pulse width and the frequency.

After implantation of the device, a physician is required to program. In order to achieve the ideal therapeutic effect and avoid side effects, electrode contacts near the target site need to be selected. In the absence of visual indication, the selection of the contacts requires an attempt, which takes a lot of time. Especially if the direction electrode is used, the number of the contacts is 2 times of that of the common annular electrode, and the program control time is correspondingly increased.

The human neuron cell bodies are gathered together in the central part of the nervous system to form a nerve nucleus, and the nerve nuclei with similar functions are gathered to form a nerve nucleus group. The performance requirements of the device for modeling the nerve nuclei and the electrodes are high, and the program control device used by a doctor for program control has the portable requirement, so that the performance of the device is limited, and the purpose is difficult to realize by the program control device.

Disclosure of Invention

In view of the above, the present application provides an implantable neurostimulation electrode and a method for displaying a nerve nucleus, which is performed by an in-vitro programmable device of an implantable neurostimulation apparatus, wherein an electrode model and a nerve nucleus model are prestored in the programmable device, and the method comprises:

acquiring electrode position transformation data from external equipment, wherein the electrode position transformation data is data obtained by adjusting the initial position of an electrode model in the external equipment according to the electrode position displayed by a medical image of an electrode implantation part of a patient and calculating according to the adjusted electrode position and the initial position of the electrode model;

calculating to obtain transformed electrode model position data by using the electrode position transformation data and initial position data of the electrode model prestored by the program control device;

and displaying the electrode model after the position change and the nerve nucleus model in the same space.

Optionally, before displaying the electrode model after transforming the position and the nerve core cluster model in the same space, the method further includes:

acquiring nuclear mass transformation data from external equipment, wherein the nuclear mass transformation data is data obtained by adjusting the initial position and/or the initial form of a nerve nuclear mass model in the external equipment and calculating according to the comparison between the adjusted nerve nuclear mass model and the initial nerve nuclear mass model;

and adjusting the position and/or the form of a pre-stored nerve nuclei model according to the nuclei transformation data.

Optionally, after displaying the electrode model after transforming the position and the nerve core cluster model in the same space, the method further includes:

and responding to the adjustment operation of the position and/or the angle of the displayed electrode model and the nerve nucleus model by the user.

Optionally, the adjusting operation includes rotating on any coordinate axis of the space and displacing on any coordinate axis.

Optionally, the electrode model has a directional electrode contact, and the adjusting operation includes rotating about the electrode model.

Optionally, the electrode position transformation data is a transformation matrix calculated by selecting a plurality of reference points from an electrode model of an external device and acquiring initial position information of the reference points, adjusting the initial position of the electrode model according to the electrode position displayed in the medical image to acquire adjusted position information of the reference points, and combining the initial position information; wherein the plurality of reference points are from at least two planes and include at least three non-collinear points.

The invention also provides a program control device, comprising: the system comprises at least one processing unit, and a storage unit, an interaction unit and a communication unit which are in communication connection with the at least one processing unit; wherein the storage unit stores instructions executable by the processing unit, the instructions are executed by the processing unit to cause the processing unit to execute the display method, the communication unit is used for interacting data with the implantable neurostimulation device, and the interaction unit is used for displaying the electrode model and the nerve nucleus model and obtaining the adjustment operation of the displayed electrode model and the displayed nerve nucleus model by the user.

The invention also provides an implanted nerve stimulation electrode and a nerve nucleus display system, which comprises:

the program control device described above; and

the computer is used for acquiring a medical image of an electrode implantation part of a patient, adjusting the initial position of a pre-stored electrode model according to the electrode position displayed in the medical image, and calculating electrode position transformation data aiming at the electrode model according to the adjusted electrode position and the initial position; the server is used for storing the electrode position transformation data; the programming device obtains the electrode position transformation data from the server.

Optionally, the system further includes:

a patient terminal for uploading a use authorization permission for the medical image and/or the electrode position transformation data to a server;

when the server inquires that the use authorization permission exists, the computer is allowed to download the medical image, and/or the program-controlled device is allowed to download the electrode position transformation data.

Optionally, the program control device is further configured to reserve a visit time with the patient terminal through the server, after the visit time is determined, query whether the electrode position transformation data exists in the server, and if the corresponding data exists, automatically download the existing electrode position transformation data before the visit time.

According to the method for displaying the implanted nerve stimulation electrode and the nerve nucleus, the electrode model and the nerve nucleus model are configured in the program control device, when the model matched with a patient needs to be displayed, electrode positioning can be carried out through external equipment, and a positioning result is converted into transformation data. The doctor only needs to use the program control device to receive the transformation data and then carries out position transformation on the electrode model, so that the program control device can display the positions of the electrode and the nuclear mass corresponding to the actual condition of the patient, guide program control setting and improve the convenience of program control operation. In addition, the program control device in the scheme does not need to perform modeling and position calculation operations which are long in time consumption and large in calculation amount, and only needs to acquire electrode position transformation data to adjust a local model, so that balance between equipment portability and performance can be achieved, and real-time change is achieved.

The program control device in the scheme has small communication data volume with external equipment, and can realize real-time transformation. If the electrode or the nuclear apex coordinates are directly transmitted after the electrode position is determined, although drawing can be directly performed, the data size is large, uploading and downloading are inconvenient, and practical use is difficult. The program control device predefines the original positions of the electrodes and the nuclei, obtains a transformation matrix or a vertex modification record through communication, and then transforms the electrodes and the nuclei, so that the data volume needing communication can be greatly reduced, the calculation amount of transformation operation is low, and real-time change and display can be realized.

In an alternative embodiment, the programming device may also receive transformation data for a model of the nucleus, the displayed model of the nerve nucleus being more suitable for the patient's actual situation.

The display content of the scheme has high personalization degree, and fine adjustment can be performed in an optional embodiment. The user can translate, rotate and zoom the display result, and the display result can be viewed from the whole part to the local part, so that the display device is more personalized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of a programming device and a computer according to an embodiment of the invention;

FIG. 2 is a schematic diagram of two implanted neurostimulation electrodes in an embodiment of the invention;

FIG. 3 is a schematic diagram of the initial positions of an electrode model and a nuclear mass model of a computer in an embodiment of the invention;

FIG. 4 is a diagram illustrating a computer after transformation of an electrode model according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an interface between an electrode model and a nuclear bolus model of a programmable device according to an embodiment of the present invention;

FIG. 6 is a diagram illustrating a transformed neural nuclei model of a computer according to an embodiment of the present invention;

FIG. 7 is another schematic diagram of a computer implemented neural nuclei model after transformation according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of an interface between an orientation electrode model and a nuclear bolus model of a programmable device in an embodiment of the invention;

FIG. 9 is a flowchart of a display method executed by the programmable device according to an embodiment of the present invention;

fig. 10 is a schematic diagram of an implanted neurostimulation electrode and a nerve nucleus displaying system in an embodiment of the invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The application provides an implanted nerve stimulation electrode and a nerve nucleus displaying method, the method is executed by external control equipment of implanted nerve stimulation equipment, the external control equipment can be controlled by doctors, and the external control equipment can be program control devices of various nerve stimulators such as a vagus nerve stimulator, a deep brain electrical stimulator, a spinal nerve stimulator, a sacral nerve stimulator and the like.

As shown in fig. 1, the programming device 2 is provided with an interaction unit, such as a display screen, an input key, or a touch screen; a communication unit, such as wireless communication devices of wire communication, local area network, Bluetooth, near field communication and the like; and the storage unit and the processing unit are used for storing and executing the application program so as to realize the control of the implantable nerve stimulation device and perform the related operation of displaying the electrode model and the nerve nucleus model in the embodiment.

For the purpose of the invention, the program control device 2 for carrying out the method is pre-stored with an electrode model and a nerve nucleus model. The electrode model comprises a model of at least one specification type of electrode used by a vagus nerve stimulation system, a deep brain electrical stimulation system, a spinal nerve stimulation system and a sacral nerve stimulation system; the nerve nucleus model comprises a plurality of nerve nucleus models of which nerve stimulation systems (such as a vagus nerve stimulation system, a deep brain electrical stimulation system, a spinal nerve stimulation system, a sacral nerve stimulation system and the like) are used as stimulation targets under different use scenes. The pre-stored electrode model and the nerve nuclei model are imported into the program control device 2 before the equipment leaves the factory.

Common electrodes for neurostimulation systems include cylindrical electrodes, paddle electrodes, and the like. By way of example, fig. 2 shows two kinds of cylindrical electrodes, on which a plurality of contacts are provided, and the programming device 2 may configure all or part of the contacts to output stimulation signals, and the kinds of the electrode contacts include a ring electrode contact and a direction electrode contact. In fig. 2, all of the right-hand electrodes are ring electrode contacts 22; the contacts at the upper and lower ends of the electrode on the left side are ring electrode contacts 22, and the two groups of contacts in the middle are direction electrode contacts 21. Of course, except for the difference of the electrode shape and the electrode contacts, the differential design can be carried out on the number of the contacts, the arrangement and combination among the contacts and the intervals among the contacts, so that various types of electrodes are formed to be suitable for different stimulation systems and action targets. The electrode models of the present application are of a correspondingly diverse type in this context.

The neural nucleus model of the application can be an ellipsoid or other set shapes, and the simulated shape is the human neural nucleus. Since the individual difference is generally not large, the same set shape can be used, and this is called a standard nucleus.

As shown in fig. 3, the electrode model 20 and the nerve nuclei model 30 may be generated using three-dimensional editing software. As the three-dimensional model, the electrode model 20 and the nerve nucleus model 30 have information expressing a three-dimensional spatial position. This position information serves as its initial position data when the model is generated. Accordingly, the electrode model 20 and the nerve nuclei model 30 prestored in the programming device 2 also include initial position data of the models. One nerve bolus model 30 and one electrode model 20 are shown simultaneously in fig. 3, and are both in the initial position.

As shown in fig. 1, in the present application, an external device, such as a computer 1, is also used in conjunction with the programming apparatus 2. The computer 1 of the present application is also pre-stored with an electrode model 20 and a nerve nuclei model 30. In addition, the computer 1 may also acquire medical images of the implanted electrode site of the patient, such as CT images, MRI images, or three-dimensional image data reconstructed based on these original images. These images can show the electrodes implanted in the patient and the tissue such as the nerve nuclei in the vicinity of the electrodes. On the computer 1, the position of the electrode model 20 may be adjusted according to the electrode positions shown in the medical image, such that the position of the electrode model 20 coincides with the position of the electrode actually implanted in the patient, as shown in fig. 4, the position of the electrode model 20 is adjusted. This may be done by the user or by an automatic registration algorithm. Thus, the adjusted position data of the electrode model 20 can be obtained on the computer 1, and the electrode position conversion data can be calculated by comparing the position data with the initial position data of the electrode model 20.

The medical image of the present embodiment is a processed standardized image, and the actual nuclear mass position and the shape of the patient in the image are not substantially different, so that the initial position of the neural nuclear mass model 30 in the embodiment can be set as the general position of the actual nuclear mass in the standardized image when the neural nuclear mass model 30 is generated, and thus in the present embodiment, neither the position nor the shape of the neural nuclear mass model 30 is adjusted.

In a preferred embodiment, the electrode position transformation data is a coordinate transformation matrix of a plurality of reference points. Specifically, the computer 1 selects a plurality of reference points in the electrode model and acquires initial position data of the reference points. In a specific embodiment, 4 reference points on the electrode model are selected, the reference points are not all in the same plane, and any three points are not on the same line. Then, the electrode model 20 is moved and rotated in space according to the medical image of the patient so that the position of the electrode model 20 coincides with the actual position of the electrode in the patient. After the adjustment is completed, the position data of each reference point of the electrode model 20 after the movement is recorded, i.e. the coordinate transformation matrix of the electrode can be calculated by using the position data of the reference points before and after the movement.

After obtaining the electrode position transformation data for the electrode model 20, the computer 1 may store the data locally or upload the data to a server. In practical applications, an implantable neurostimulation device may have a plurality of electrodes, and the implantation positions are different, so that a plurality of electrode position transformation data are obtained, and corresponding electrode numbers are required to be stored and uploaded. In addition, patient information, which may be the number of the neurostimulation device implanted in its body, and physician information may also be added.

As shown in fig. 9, the method for displaying the implanted nerve stimulation electrode and the nerve nuclei performed by the programmable device 2 includes the following steps:

s1, obtaining the electrode position transformation data from an external device, such as a server or a computer, according to the patient information and the doctor information provided by the user.

S2, calculating to obtain transformed electrode model position data by using the electrode position transformation data and pre-stored initial position data of the electrode model;

and S3, displaying the electrode model and the nerve nucleus model after the transposition in the same space. As shown in fig. 5, the positional relationship between the electrode model and the nuclear bolus model displayed by the programming device 2 is consistent with the actual positional relationship between the electrode and the nuclear bolus in the patient.

In another embodiment, if the morphology and location of the nerve nuclei of the normalized image cannot correspond to the initial morphology and location of the pre-stored nerve nuclei model 30 due to individual differences, image processing, etc., the morphology and location of the nerve nuclei model 30 is allowed to be adjusted.

Specifically, the computer 1 may also acquire the nuclear bolus transformation data for the neural nuclear bolus model 30. The nucleus transformation data is data obtained by adjusting the initial position and/or the initial form of the nerve nucleus model 30, comparing the adjusted nerve nucleus model with the initial nerve nucleus model, and calculating.

For example, if the patient's nerve nuclei are considered to be significantly different from the standard nuclei, the user may manually or automatically adjust the position and shape of the nerve nuclei model 30 to more closely match the actual condition of the patient via the computer 1. After the adjustment is completed, the computer 1 calculates the nucleus transformation data by comparing the adjusted data of the neural nucleus model with the initial data of the neural nucleus model.

For the transformation of the position and angle of the nerve nucleus model, a reference point is selected from the nerve nucleus model 30 of the computer 1 by analogy with the way of calculating the transformation data of the electrode position by the electrode model 20, and then a coordinate transformation matrix of the nerve nucleus is formed according to the coordinate transformation of the reference point, which is not described herein again, and the position of the electrode model 20 is adjusted as shown in fig. 6. In this embodiment, changes to the shape of the nerve nuclei model 30 are also included, which need to be adjusted based on the data structure of the nerve nuclei model 30. Specifically, the nerve nucleus model 30 includes a plurality of plane figure data, such as a quadrangular plane, a triangular plane, or other polygonal planes; the planar graphics data includes number information and position information of vertices of the plane, where the vertex position information is three-dimensional coordinates that a user can adjust to change the shape of the kernel. Therefore, in addition to the coordinate transformation matrix of the nerve nuclei, the nuclei transformation data also includes the adjusted plane graph data, and the program control device 2 only needs to acquire the number information and the position information of the adjusted vertices and combine the original data of the nerve nuclei model to obtain the adjusted nerve nuclei model. The adjusted effect is shown in fig. 7, and the position, angle, and shape (convexity) of the nerve nucleus model 30 are adjusted as compared with the case shown in fig. 4.

Similar to the processing of the electrode position transformation data, after the computer 1 obtains the nuclear mass transformation data for the neural nuclear mass model 30, the data may be stored locally or uploaded to a server.

Therefore, in the case where the position and/or the shape of the nerve nuclei model 30 are adjusted, the method further includes, before step S3:

and S01, acquiring the nuclear group transformation data from the external device.

And S02, adjusting the position and/or the shape of the pre-stored nerve nucleus model according to the nucleus transformation data.

Further, the programming device 2 may allow the user to fine-tune the displayed content after displaying the transformed electrode model 20 and the nerve nuclei model 30. Specifically, after step S3, the method further includes:

s4, in response to the user 'S adjustment operation of the position and/or angle of the displayed electrode model 20 and the nerve nuclei model 30, and in response to the user' S adjustment operation of the morphology of the displayed nerve nuclei model 30. As shown in fig. 5, through the right operation bar, the user can perform adjustment operations through corresponding buttons, including rotation with any coordinate axis of the display space and displacement on any coordinate axis; through the model display interaction bar on the left side, the user can realize the adjustment operation of the model morphology by stretching the part of the nerve nucleus model 30. Such adjustments may make the model data more consistent with the patient's actual condition.

In order to make the positional relationship displayed by the programming device 2 consistent with the orientation of each contact of the actual implanted electrode in the patient, the user can also rotate the electrode model about the axis, as shown in fig. 8, which shows an electrode model with a direction electrode contact, which can be rotated as indicated by the arrow to change the orientation of the direction electrode contact.

After the fine tuning of the nerve nucleus model 30 and the adjustment of the electrode model 20, the program control device 2 can upload the fine tuning data and the corresponding patient information and doctor information to the server to update the previously stored transformation data, and the fine tuned electrode position transformation data and nucleus transformation data can be obtained when other devices need to download data, so that the fine tuning operation does not need to be repeated every time, and the program control efficiency is further improved.

As shown in fig. 10, the present invention also provides an implanted neurostimulation electrode and a nerve nucleus display system, comprising: computer 1, program control device 2 and server 3. The program control device 2 is used for executing the display method in the embodiment, and the computer 1 is used for generating the electrode position transformation data and the nuclear group transformation data and uploading the data to the server 3; the user of the programming device 2 can download this data from the server 3 to the local at any time when he needs to use it.

In practical applications, patient authorization is usually required to be used in view of the privacy of the patient involved in medical images and the above transformation data. In a preferred embodiment, the system therefore further comprises a patient terminal 4. The patient terminal 4 is used to upload the use authorization permission for the medical image and/or the above-mentioned transformation data to the server 3. When the server 3 inquires that the use authorization permission of the patient exists, the computer 1 is allowed to download the medical image, and/or the program control device 2 is allowed to download the electrode position transformation data and the nuclear mass transformation data.

For the functions of the above system, the program control device 2 needs to establish a network connection with the server 3 to obtain various data, and the program control device 2 is used in many scenes, which may be in a consulting room, a ward or even an operating room, and not all environments have network connection. In order to ensure the above operations are smoothly performed, the following method is adopted in the preferred embodiment to acquire data:

the program control device 2 makes appointment with the patient terminal 4 through the server 3, specifically, the appointment can be initiated by the patient terminal 4, the expected visit time (receiving doctor program control) and the appointment request are sent to the server 3, the server 3 records the visit time and sends the visit time to the program control device 2, and after receiving the appointment visit time through the program control device 2, the doctor feeds back the appointment to the server 3 and then to the patient terminal 4.

After the treatment time is determined, whether electrode position transformation data and/or nuclear group transformation data for the patient exist in the server 3 is inquired, if corresponding data exist, the electrode position transformation data and/or the nuclear group transformation data exist in the server before the treatment time, and then the server can be directly called from the local during program control, so that the display operation is ensured to be smoothly executed, and the program control efficiency is improved; if no such data exists, the doctor is prompted to prepare in time. The system automatically downloads the data in advance in combination with the reservation information of the patient so as to display the personalized data of the patient offline, and the personalized data is not required to be downloaded in advance by a doctor and is convenient to use.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. An implantable neurostimulation electrode and nerve nucleus displaying method, which is characterized in that the method is executed by an external programmable device of an implantable neurostimulation device, wherein an electrode model and a nerve nucleus model are prestored in the programmable device, and the method comprises the following steps:

2. The method of claim 1, wherein before displaying the transposed electrode model and the neural nucleus model in the same space, further comprising:

3. The method according to claim 1 or 2, wherein after displaying the electrode model after transforming the position and the nerve core cluster model in the same space, further comprising:

in response to a user manipulation of the displayed position and/or angle of the electrode model and the nerve nuclei model.

4. The method of claim 3, wherein the adjustment operation comprises a rotation about an arbitrary coordinate axis of the space and a displacement about the arbitrary coordinate axis.

5. The system of claim 4, wherein the electrode model has a directional electrode contact, and the adjusting operation comprises rotating about the electrode model.

6. The method according to claim 1 or 2, wherein the electrode position transformation data is a transformation matrix calculated by selecting a plurality of reference points from an electrode model of an external device and acquiring initial position information thereof, adjusting the initial position of the electrode model according to the electrode position displayed in the medical image, acquiring the adjusted position information of the plurality of reference points, and combining the initial position information; wherein the plurality of reference points are from at least two planes and include at least three non-collinear points.

7. A programmable device, comprising: the system comprises at least one processing unit, and a storage unit, an interaction unit and a communication unit which are in communication connection with the at least one processing unit; wherein the storage unit stores instructions executable by the processing unit, the instructions being executable by the processing unit to cause the processing unit to perform the display method according to any one of claims 1 to 6, the communication unit is configured to interact data with the implantable neurostimulation device, and the interaction unit is configured to display the electrode model and the nerve nuclei model and obtain a user adjustment operation of the displayed electrode model and the displayed nerve nuclei model.

8. An implantable neurostimulation electrode and a nerve nucleus display system, comprising:

the programming device of claim 7; and

9. The system of claim 8, further comprising:

10. The system of claim 8 or 9, wherein the programming means is further configured to schedule a visit time with the patient terminal via the server, to query the server for the presence of the electrode position transformation data after determining the visit time, and to automatically download the presence of the electrode position transformation data prior to the visit time if corresponding data is present.