CN115316972A - Flexible electrode implantation method and device and electronic equipment - Google Patents

Flexible electrode implantation method and device and electronic equipment Download PDF

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Publication number
CN115316972A
CN115316972A CN202210743396.3A CN202210743396A CN115316972A CN 115316972 A CN115316972 A CN 115316972A CN 202210743396 A CN202210743396 A CN 202210743396A CN 115316972 A CN115316972 A CN 115316972A
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craniocerebral
skull
flexible electrode
determining
dimensional model
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张大朋
余山
秦方博
韩新勇
王庆滨
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Institute of Automation of Chinese Academy of Science
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Institute of Automation of Chinese Academy of Science
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    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
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    • A61B5/0035—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room adapted for acquisition of images from more than one imaging mode, e.g. combining MRI and optical tomography
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Abstract

The invention provides an implantation method and device of a flexible electrode and electronic equipment, relates to the technical field of brain-computer interfaces, surgical robots and signal monitoring, and solves the problem that the safety of flexible electrode implantation is low because the flexible electrode cannot be accurately implanted into a craniocerebral cortex in the prior art. The method comprises the following steps: acquiring blood vessel characteristics and skull characteristics of the cranium according to an image of the cranium of an object to be processed; constructing a craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics; wherein, the craniocerebral fusion model is used for describing the spatial relationship between blood vessels and a skull; based on the spatial relationship between the blood vessels and the skull, the operation equipment is controlled to implant the flexible electrodes into the craniocerebral cortex so as to acquire craniocerebral signals of an object to be processed through the flexible electrodes, so that the flexible electrodes can be prevented from colliding with important blood vessels of the craniocerebral to a certain extent, and the implantation safety of the flexible electrodes is improved.

Description

Flexible electrode implantation method and device and electronic equipment
Technical Field
The invention relates to the technical field of brain-computer interfaces, surgical robots and signal monitoring, in particular to a flexible electrode implantation method, a flexible electrode implantation device and electronic equipment.
Background
Monitoring of brain signals is crucial for performing brain analysis. When the craniocerebral signal monitoring is carried out, the flexible electrode can be implanted into the craniocerebral cortex, and the craniocerebral signal can be monitored through the flexible electrode.
In the prior art, when a flexible electrode is implanted into a craniocerebral cortex, a two-photon microscope is adopted by a flexible electrode implantation robot to acquire a microscopic image of a blood vessel on the surface of the craniocerebral, and the flexible electrode is implanted into the craniocerebral cortex based on the microscopic image, so that a craniocerebral signal can be monitored through the implanted flexible electrode.
However, since it is difficult to accurately detect the surface blood vessels of the craniocerebral cortex in the microscopic image, there is a risk of collision with important blood vessels of the craniocerebral, and therefore, the flexible electrode cannot be accurately implanted into the craniocerebral cortex, resulting in low safety of implantation of the flexible electrode.
Disclosure of Invention
The invention provides a flexible electrode implantation method, a flexible electrode implantation device and electronic equipment, which can accurately implant a flexible electrode into a craniocerebral cortex, so that the implantation safety of the flexible electrode is improved.
The invention provides an implantation method of a flexible electrode, which comprises the following steps:
and acquiring blood vessel characteristics and skull characteristics of the cranium according to the image of the cranium of the object to be processed.
Constructing a craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics; wherein the craniocerebral fusion model is used for describing the spatial relationship between blood vessels and the skull.
Based on the spatial relationship between the blood vessels and the skull, controlling an operation device to implant the flexible electrode into the craniocerebral cortex of the object to be processed so as to acquire craniocerebral signals of the object to be processed through the flexible electrode.
According to the implantation method of the flexible electrode, the control operation device implants the flexible electrode to the craniocerebral cortex of the object to be treated based on the spatial relationship between the blood vessel and the skull, and the implantation method comprises the following steps:
determining a target path from the craniocerebral implantation position to a target placement position of the craniocerebral cortex based on the spatial relationship between the blood vessels and the skull.
And acquiring a mapping relation between the operation space of the operation equipment and the image space to which the target path belongs.
And controlling the operating equipment to implant the flexible electrode into the craniocerebral cortex according to the target path according to the mapping relation.
According to the implantation method of the flexible electrode, the determination of the target path from the craniocerebral implantation position to the target implantation position of the craniocerebral cortex based on the spatial relationship between the blood vessel and the skull comprises the following steps:
determining a plurality of paths between the craniocerebral implantation position to the target implantation position based on the spatial relationship between the blood vessels and the skull.
Determining a score value corresponding to each path in the plurality of paths based on a preset target constraint function; wherein the target constraint function is constructed based on a path, the path and a vessel, and an implantation angle corresponding to the path.
And determining the target path from the plurality of paths according to the score value corresponding to each path.
According to the implantation method of the flexible electrode provided by the invention, the obtaining of the mapping relation between the operation space of the operation device and the image space to which the target path belongs comprises the following steps:
natural feature points of the cranium, a plurality of first position coordinates in the operation space, and a plurality of second position coordinates in the image space are respectively determined.
Constructing a spatial registration function; wherein the spatial registration function is constructed based on the position coordinates in the operation space, the position coordinates in the image space, a rotational transformation matrix and a translational transformation matrix between the operation space and the image space.
Determining the rotational transformation matrix and the translational transformation matrix according to the plurality of first location coordinates, the plurality of second location coordinates, and the spatial registration function; wherein the rotation transformation matrix and the translation transformation matrix are used for describing the mapping relation between the operation space and the image space.
According to the implantation method of the flexible electrode, the determining the rotation transformation matrix and the translation transformation matrix according to the plurality of first position coordinates, the plurality of second position coordinates and the spatial registration function comprises:
and determining a corresponding first barycentric coordinate according to the first position coordinates, and determining a corresponding second barycentric coordinate according to the second position coordinates.
Constructing a symmetric matrix from the plurality of first position coordinates, the first barycentric coordinates, the plurality of second position coordinates, and the second barycentric coordinates.
And determining the rotation transformation matrix according to the eigenvector corresponding to the maximum eigenvalue of the symmetric matrix, and determining the translation transformation matrix according to the rotation transformation matrix, the first barycentric coordinate and the second barycentric coordinate.
According to the implantation method of the flexible electrode, the construction of the craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics comprises the following steps:
constructing a first three-dimensional model corresponding to the cerebral vessels on the basis of the vessel characteristics; and constructing a second three-dimensional model corresponding to the skull based on the skull characteristics.
And determining a rotation and translation matrix between the first three-dimensional model and the second three-dimensional model based on the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model.
And performing rotational translation processing on the first three-dimensional model and the second three-dimensional model based on the rotational translation matrix to obtain the craniocerebral fusion model.
According to the implantation method of the flexible electrode, the determining of the rotation and translation matrix between the first three-dimensional model and the second three-dimensional model based on the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model comprises the following steps:
and determining the main characteristic direction of the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model.
And in the main characteristic direction, iteratively determining the rotation and translation matrix through a nearest iteration point algorithm.
The present invention also provides an implanting device of a flexible electrode, comprising:
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring blood vessel characteristics and skull characteristics of the cranium according to an image of the cranium of an object to be processed;
the construction unit is used for constructing a craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics; wherein the craniocerebral fusion model is used for describing the spatial relationship between blood vessels and a skull;
and the control unit is used for controlling the operation equipment to implant the flexible electrode into the craniocerebral cortex of the object to be processed based on the spatial relationship between the blood vessel and the skull so as to acquire the craniocerebral signals of the object to be processed through the flexible electrode.
According to the implantation device of the flexible electrode, the control unit is specifically used for determining a target path from the craniocerebral implantation position to a target implantation position of the craniocerebral cortex based on the spatial relationship between the blood vessel and the skull; acquiring a mapping relation between an operation space of the operation equipment and an image space to which the target path belongs; and controlling the operation equipment to implant the flexible electrode into the craniocerebral cortex according to the target path according to the mapping relation.
According to the implantation device of the flexible electrode, the control unit is specifically used for determining a plurality of paths from the head implantation position to the target implantation position based on the spatial relationship between the blood vessel and the skull; determining a score value corresponding to each path in the plurality of paths based on a preset target constraint function; wherein the objective constraint function is constructed based on a path, the path and a vessel, and an implantation angle corresponding to the path; and determining the target path from the plurality of paths according to the score value corresponding to each path.
According to the implantation device of the flexible electrode, the control unit is specifically used for respectively determining a natural feature point of the cranium, a plurality of first position coordinates in the operation space and a plurality of second position coordinates in the image space; constructing a spatial registration function; wherein the spatial registration function is constructed based on the location coordinates in the operating space, the location coordinates in the image space, a rotational transformation matrix and a translational transformation matrix between the operating space and the image space; determining the rotation transformation matrix and the translation transformation matrix according to the plurality of first position coordinates, the plurality of second position coordinates and the spatial registration function; wherein the rotation transformation matrix and the translation transformation matrix are used for describing the mapping relation between the operation space and the image space.
According to the implantation device of the flexible electrode, the control unit is specifically used for determining a corresponding first barycentric coordinate according to the plurality of first position coordinates and a corresponding second barycentric coordinate according to the plurality of second position coordinates; constructing a symmetric matrix according to the plurality of first position coordinates, the first barycentric coordinate, the plurality of second position coordinates and the second barycentric coordinate; and determining the rotation transformation matrix according to the eigenvector corresponding to the maximum eigenvalue of the symmetric matrix, and determining the translation transformation matrix according to the rotation transformation matrix, the first barycentric coordinate and the second barycentric coordinate.
According to the implantation device of the flexible electrode, the construction unit is specifically used for constructing a first three-dimensional model corresponding to a cranial vascular system based on the vascular characteristics; constructing a second three-dimensional model corresponding to the skull based on the skull characteristics; determining a rotation and translation matrix between the first three-dimensional model and the second three-dimensional model based on the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model; and performing rotational translation processing on the first three-dimensional model and the second three-dimensional model based on the rotational translation matrix to obtain the craniocerebral fusion model.
According to the implantation device of the flexible electrode, the construction unit is specifically used for determining the main characteristic directions of the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model; and in the main characteristic direction, iteratively determining the rotation and translation matrix through a nearest iteration point algorithm.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the method for implanting the flexible electrode as described in any of the above.
The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of implanting a flexible electrode as described in any one of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of implanting a flexible electrode as described in any one of the above.
According to the implantation method, the implantation device and the electronic equipment of the flexible electrode, when the flexible electrode is implanted into the craniocerebral cortex of an object to be processed, the blood vessel characteristics and the cranial characteristics of the craniocerebral are obtained; combining the blood vessel characteristics and the skull characteristics of the skull, and constructing a craniocerebral fusion model for describing the spatial relationship between the blood vessel and the skull; because the spatial relationship between the blood vessels and the skull can be accurately described by the craniocerebral fusion model, the operation equipment can be accurately controlled to implant the flexible electrodes into the craniocerebral cortex of the object to be processed based on the spatial relationship between the blood vessels and the skull, so that the flexible electrodes can be prevented from colliding with important blood vessels of the craniocerebral to a certain extent, and the implantation safety of the flexible electrodes is improved.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of 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 flow chart of a method for implanting a flexible electrode according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an implanting apparatus for flexible electrodes according to an embodiment of the present invention;
fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. In the description of the present invention, the character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The technical scheme provided by the embodiment of the invention can be applied to a signal monitoring scene, in particular to a monitoring scene of a brain signal. When the craniocerebral signal monitoring is carried out, the flexible electrode can be implanted into the craniocerebral cortex, and the craniocerebral signal can be monitored through the flexible electrode.
In the prior art, when the flexible electrode is implanted into the craniocerebral cortex, generally, the flexible electrode implantation robot adopts a two-photon microscope to acquire microscopic images of blood vessels on the surface of the craniocerebral cortex, however, the microscopic images are difficult to accurately detect the blood vessels on the surface of the craniocerebral cortex, and the risk of collision with important blood vessels of the craniocerebral exists, so that the flexible electrode cannot be accurately implanted into the craniocerebral cortex, and the implantation safety of the flexible electrode is low.
In order to avoid collision with important blood vessels of the cranium and brain, the flexible electrodes can be accurately implanted into the cortex of the cranium and a cranium-brain fusion model for describing the spatial relationship between the blood vessels and the cranium can be constructed based on the blood vessel characteristics and the cranium characteristics of the cranium and the object to be processed; because the spatial relationship between the blood vessels and the skull can be accurately described by the brain fusion model, the operation equipment can be accurately controlled to implant the flexible electrode into the craniocerebral cortex of the object to be processed based on the spatial relationship between the blood vessels and the skull, so that collision with important blood vessels of the craniocerebral is avoided, and the implantation safety of the flexible electrode is improved.
Based on the above technical concept, embodiments of the present invention provide an implantation method of a flexible electrode, and the implantation method of the flexible electrode provided by the present invention will be described in detail through specific embodiments. It is to be understood that the following detailed description may be combined with other embodiments, and that the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a flowchart of a flexible electrode implantation method according to an embodiment of the present invention, where the flexible electrode implantation method may be performed by a software and/or hardware device. For example, referring to fig. 1, the method for implanting the flexible electrode may include:
s101, obtaining blood vessel characteristics and skull characteristics of the cranium according to the image of the cranium of the object to be processed.
For example, when the blood vessel characteristics of the brain are acquired according to the image of the brain of the object to be processed, the image of the brain of the object to be processed may be a Magnetic Resonance Imaging (MRI) image.
Illustratively, when acquiring blood vessel characteristics of a cranium according to an MRI image of the cranium, a deep convolutional neural network based on a full convolutional neural network U-Net and a generation countermeasure network can be built, and the MRI image of the cranium is segmented through the built deep convolutional neural network to obtain a blood vessel region image of the cranium; then calculating a gradient change extreme value of the blood vessel region image, and determining a blood vessel contour edge according to the gradient change extreme value; and finally, fitting the contour edge of the blood vessel by adopting a Ransac fitting technology, for example, to obtain the blood vessel characteristics of the cranium and further obtain the blood vessel characteristics of the cranium.
For example, when acquiring skull features of a skull according to an image of a cranium of a subject to be processed, the image of the cranium of the subject to be processed may be a Computed Tomography (CT) image.
For example, when acquiring skull features of a brain according to a CT image of the brain, a pre-acquired adaptive threshold value for extracting the skull features may be used to segment the CT image of the brain to obtain the skull features of the brain, so as to acquire the skull features of the brain. In an example, when the adaptive threshold for skull feature extraction is obtained, a plurality of sample craniocerebral CT images can be obtained, and the adaptive threshold is obtained by comprehensive calculation in combination with the gray levels of the plurality of sample craniocerebral CT images.
After the vascular characteristics and the cranial characteristics of the cranium are respectively obtained through S101, a cranium-brain fusion model can be constructed based on the vascular characteristics and the cranial characteristics, namely the following S102 is executed:
s102, constructing a craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics; the brain fusion model is used for describing the spatial relationship between blood vessels and the skull.
For example, when a brain fusion model is constructed based on the blood vessel characteristics and the skull characteristics, a first three-dimensional model corresponding to the brain blood vessels may be constructed based on the blood vessel characteristics; constructing a second three-dimensional model corresponding to the skull based on the skull characteristics; determining a rotation and translation matrix between the first three-dimensional model and the second three-dimensional model based on the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model; and performing rotational translation processing on the first three-dimensional model and the second three-dimensional model based on the rotational translation matrix to obtain the craniocerebral fusion model. Therefore, by constructing the craniocerebral fusion model for describing the spatial relationship between the blood vessels and the skull, the operation equipment can be accurately controlled to implant the flexible electrode into the craniocerebral cortex of the object to be processed based on the spatial relationship between the blood vessels and the skull, so that collision with important blood vessels of the craniocerebral is avoided, and the implantation safety of the flexible electrode is improved.
It is understood that in the embodiment of the present invention, the "first" of the first three-dimensional model and the "second" of the second three-dimensional model are only used for distinguishing the three-dimensional model corresponding to the cranial blood vessels from the three-dimensional model corresponding to the skull.
For example, when the first three-dimensional model corresponding to the cranial and cerebral vessels is constructed based on the blood vessel features, the blood vessel features may be processed by using a Visualization Toolkit (VTK) library function to construct the first three-dimensional model corresponding to the cranial and cerebral vessels. Similarly, when the second three-dimensional model corresponding to the skull is constructed based on the skull characteristics, the second three-dimensional model corresponding to the skull can be constructed by processing the skull characteristics by adopting the VTK library function.
After a first three-dimensional model corresponding to the cranial blood vessels and a second three-dimensional model corresponding to the skull are respectively obtained, a rotation and translation matrix between the first three-dimensional model and the second three-dimensional model can be determined according to the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model. For example, when determining the rotational-translational matrix based on the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model, a principal component analysis method may be used to determine a principal characteristic direction of the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model; and in the main characteristic direction, iterating through a nearest iteration point algorithm to obtain a rotation and translation matrix.
After the rotation and translation matrix is determined, the first three-dimensional model corresponding to the cranial blood vessels and the second three-dimensional model corresponding to the skull can be subjected to rotation and translation processing to obtain a craniocerebral fusion model, so that the fusion of the first three-dimensional model corresponding to the cranial blood vessels and the second three-dimensional model corresponding to the skull is realized. Because the first three-dimensional model corresponding to the cranial blood vessels and the second three-dimensional model corresponding to the skull are fused in the craniocerebral fusion model, the spatial relationship between the blood vessels and the skull can be accurately described, in the embodiment of the present invention, the operation device can be accurately controlled to implant the flexible electrodes into the craniocerebral cortex of the object to be processed based on the spatial relationship between the blood vessels and the skull, that is, the following S103 is performed:
s103, controlling the operation equipment to implant the flexible electrode into the craniocerebral cortex of the object to be processed based on the spatial relation between the blood vessel and the skull so as to acquire the craniocerebral signal of the object to be processed through the flexible electrode.
For example, when the operation device is controlled to implant the flexible electrode into the cerebral cortex of the object to be processed based on the spatial relationship between the blood vessel and the skull, the target path from the cerebral implantation position to the target placement position of the cerebral cortex can be determined based on the spatial relationship between the blood vessel and the skull; determining a mapping relation between an operation space of the operation equipment and an image space to which the target path belongs; and controlling the operation equipment to implant the flexible electrode into the craniocerebral cortex according to the mapping relation and the target path. Therefore, according to the mapping relation, the operation equipment is controlled to execute the implantation operation of the flexible electrode according to the target path, the flexible electrode can be accurately implanted into the cerebral cortex, an external marker does not need to be implanted, the implantation risk of the flexible electrode can be effectively reduced, and the implantation safety of the flexible electrode is further improved.
The image space to which the target path belongs is an image space corresponding to an image for determining the target path.
For example, when a target path from a brain implantation position to a target implantation position in a skull cortex is determined based on a spatial relationship between a blood vessel and the skull, a plurality of paths from the brain implantation position to the target implantation position may be determined based on the spatial relationship between the blood vessel and the skull. For example, the area of the target implantation position in the cerebral cortex is divided at fixed intervals, a plurality of array target implantation points are generated and are respectively connected with the cerebral implantation position and each target implantation point, and a plurality of paths from the cerebral implantation position to the target implantation position are obtained. It is understood that, in order to avoid calculating score values corresponding to invalid paths, invalid paths colliding with the important cranial blood vessels are usually not included in the multiple paths, that is, the multiple paths may be understood as multiple paths obtained after eliminating the invalid paths colliding with the important cranial blood vessels. Determining a score value corresponding to each path in the multiple paths based on a preset target constraint function; wherein the target constraint function is constructed based on the path, the path and the vessel, and the implantation angle corresponding to the path; and determining the target path from the multiple paths according to the score value corresponding to each path.
For example, when determining the score value corresponding to each of the multiple paths based on the preset target constraint function, the target constraint function constructed based on the paths, the blood vessels, and the implantation angles corresponding to the paths may be first adopted to solve the risk value corresponding to each of the multiple paths, and the risk value may indicate the score value corresponding to each of the paths, so that the implantation risk of the brain may be quantified. In general, the smaller the risk value, the higher the score value corresponding to the route, and the score value corresponding to each route is determined from the risk value corresponding to each route in the plurality of routes. Therefore, after the score values corresponding to the paths are determined, the path with the highest score value can be determined as a target path, and the target path is the optimal implantation path for implanting the flexible electrode into the craniocerebral cortex. It is understood that the path with the highest score is the path with the lowest risk value.
After the target path for implanting the flexible electrode into the skull cortex is determined, since the operation space of the operation device for performing the implantation operation is different from the image space to which the target path belongs, if the operation device is to accurately implant the flexible electrode into the skull cortex according to the target path, a mapping relationship between the operation space of the operation device and the image space to which the target path belongs needs to be further determined, and the operation device is controlled to implant the flexible electrode into the skull cortex according to the target path according to the mapping relationship.
For example, when determining the mapping relationship between the operation space of the operation device and the image space to which the target path belongs, the natural feature point of the cranium, the plurality of first position coordinates in the operation space, and the plurality of second position coordinates in the image space may be determined respectively; constructing a spatial registration function; wherein the spatial registration function is constructed based on the position coordinates in the operation space, the position coordinates in the image space, a rotational transformation matrix and a translational transformation matrix between the operation space and the image space; determining a rotation transformation matrix and a translation transformation matrix according to the first position coordinates, the second position coordinates and the space registration function; wherein, the rotation transformation matrix and the translation transformation matrix are used for describing the mapping relation between the operation space and the image space. Therefore, the natural characteristic points of the cranium are adopted, the operation space and the image space of the operation equipment are registered, an external marker does not need to be implanted, the implantation risk of the flexible electrode can be effectively reduced, and the implantation safety of the flexible electrode is further improved.
For example, the natural feature points may include a nose root point, a tooth end point, and an orbital corner point, and of course, other natural feature points may also be included, which may be specifically set according to actual needs.
For example, the natural feature point of the brain is determined, and when the first position coordinate in the operation space is obtained, the binocular vision tracking camera of the operation equipment can be used for obtaining the natural feature point of the brain, and the first position coordinate in the operation space is obtained; for example, when the natural feature point of the brain is obtained, the natural feature point of the brain may be extracted from the CT image at the second position coordinate in the image space.
For example, assuming natural feature points of the cranium, the number of the plurality of first position coordinates in the operation space is n, that is, there are n first position coordinates; wherein, the ith first position coordinate can be marked as P i I =1 to n, and the number of the plurality of second position coordinates in the image space is also n, that is, there are n second position coordinates; wherein, the ith second position coordinate can be recorded as I i I =1 to n. For an example, the constructed spatial registration function can be seen in the following equation 1:
Figure BDA0003715984230000121
wherein E denotes a spatial registration function, R denotes a rotational transformation matrix to be determined, and T denotes a translational transformation matrix to be determined.
For example, when determining the rotation transformation matrix and the translation transformation matrix according to the plurality of first position coordinates, the plurality of second position coordinates, and the spatial registration function, the corresponding first barycentric coordinates may be determined according to the plurality of first position coordinates, and the corresponding second barycentric coordinates may be determined according to the plurality of second position coordinates; constructing a symmetric matrix according to the plurality of first position coordinates, the first barycentric coordinate, the plurality of second position coordinates and the second barycentric coordinate; and determining a rotation transformation matrix according to the eigenvector corresponding to the maximum eigenvalue of the symmetric matrix, and determining a translation transformation matrix according to the rotation transformation matrix, the first barycentric coordinate and the second barycentric coordinate.
Continuing with the assumption that there are n first position coordinates and n second position coordinates, it can be derived that: first barycentric coordinate
Figure BDA0003715984230000131
Second centroid coordinate
Figure BDA0003715984230000132
For example, when the symmetric matrix is constructed according to the n first position coordinates, the first barycentric coordinate, the n second position coordinates, and the second barycentric coordinate, the n first position coordinates, the first barycentric coordinate P, and the n second position coordinates may be first used 0 N second position coordinates and a second center of gravity coordinate I 0 Constructing covariance matrix C, see the following equation 2:
Figure BDA0003715984230000133
then, a symmetric matrix H is constructed according to the covariance matrix C, which can be referred to as the following formula 3:
Figure BDA0003715984230000134
where tr (C) represents the trace of matrix C, i.e., the sum of the matrix diagonals.
After the symmetric matrix H is determined to be constructed, eigenvalues and eigenvectors of the symmetric matrix H may be calculated by using, for example, a jacobian method, where the eigenvector corresponding to the largest eigenvalue is the quaternion q = (q) which makes the spatial registration function E take the minimum value 0 ，q 1 ，q 2 ，q 3 ) And satisfy
Figure BDA0003715984230000135
q 0 Is more than or equal to 0. And constructing and determining a rotation transformation matrix R by using quaternions, which can be seen in the following formula 4:
Figure BDA0003715984230000141
after the rotation transformation matrix R is determined, T = P may be used 0 -RI 0 And determining a translation transformation matrix T, wherein the rotation transformation matrix R and the translation transformation matrix T are used for describing the mapping relation between the operation space and the image space, so that the registration between the operation space and the image space corresponding to the operation equipment is realized.
It can be seen that, in the embodiment of the invention, when the flexible electrode is implanted into the craniocerebral cortex of the object to be processed, the blood vessel characteristics and the cranial characteristics of the craniocerebral are obtained; combining the blood vessel characteristics and the skull characteristics of the skull, and constructing a craniocerebral fusion model for describing the spatial relationship between the blood vessel and the skull; because the spatial relationship between the blood vessels and the skull can be accurately described by the craniocerebral fusion model, the operation equipment can be accurately controlled to implant the flexible electrodes into the craniocerebral cortex of the object to be processed based on the spatial relationship between the blood vessels and the skull, so that the flexible electrodes can be prevented from colliding with important blood vessels of the craniocerebral to a certain extent, and the implantation safety of the flexible electrodes is improved.
The following describes the implantation device of the flexible electrode provided by the present invention, and the implantation device of the flexible electrode described below and the implantation method of the flexible electrode described above can be referred to correspondingly.
Fig. 2 is a schematic structural diagram of a flexible electrode implant device 20 according to an embodiment of the present invention, and for example, referring to fig. 2, the flexible electrode implant device 20 may include:
the acquiring unit 201 is configured to acquire a blood vessel characteristic and a skull characteristic of a cranium according to an image of the cranium of the object to be processed.
The construction unit 202 is used for constructing a craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics; the brain fusion model is used for describing the spatial relationship between blood vessels and the skull.
And the control unit 203 is used for controlling the operation equipment to implant the flexible electrodes into the craniocerebral cortex of the object to be processed based on the spatial relationship between the blood vessels and the skull so as to acquire craniocerebral signals of the object to be processed through the flexible electrodes.
Optionally, the control unit 203 is specifically configured to determine a target path from the craniocerebral implantation position to a target implantation position of a craniocerebral cortex based on a spatial relationship between the blood vessel and the skull; acquiring a mapping relation between an operation space of the operation equipment and an image space to which a target path belongs; and controlling the operation equipment to implant the flexible electrode into the craniocerebral cortex according to the target path according to the mapping relation.
Optionally, the control unit 203 is specifically configured to determine multiple paths from the craniocerebral implantation position to the target implantation position based on a spatial relationship between the blood vessels and the skull; determining a score value corresponding to each path in the multiple paths based on a preset target constraint function; wherein the target constraint function is constructed based on the path, the path and the vessel, and the implantation angle corresponding to the path; and determining a target path from the multiple paths according to the score value corresponding to each path.
Optionally, the control unit 203 is specifically configured to determine natural feature points of the cranium, a plurality of first position coordinates in the operation space, and a plurality of second position coordinates in the image space, respectively; constructing a spatial registration function; wherein the spatial registration function is constructed based on the position coordinates in the operation space, the position coordinates in the image space, a rotational transformation matrix and a translational transformation matrix between the operation space and the image space; determining a rotation transformation matrix and a translation transformation matrix according to the plurality of first position coordinates, the plurality of second position coordinates and the space registration function; wherein, the rotation transformation matrix and the translation transformation matrix are used for describing the mapping relation between the operation space and the image space.
Optionally, the control unit 203 is specifically configured to determine a corresponding first barycentric coordinate according to the first position coordinates, and determine a corresponding second barycentric coordinate according to the second position coordinates; constructing a symmetric matrix according to the plurality of first position coordinates, the first barycentric coordinates, the plurality of second position coordinates and the second barycentric coordinates; and determining a rotation transformation matrix according to the eigenvector corresponding to the maximum eigenvalue of the symmetric matrix, and determining a translation transformation matrix according to the rotation transformation matrix, the first barycentric coordinate and the second barycentric coordinate.
Optionally, the constructing unit 202 is specifically configured to construct a first three-dimensional model corresponding to a cranial vascular based on vascular characteristics; constructing a second three-dimensional model corresponding to the skull based on the skull characteristics; determining a rotation and translation matrix between the first three-dimensional model and the second three-dimensional model based on the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model; and performing rotational translation processing on the first three-dimensional model and the second three-dimensional model based on the rotational translation matrix to obtain a craniocerebral fusion model.
Optionally, the constructing unit 202 is specifically configured to determine the main feature direction of the point cloud data corresponding to the first three-dimensional model and the main feature direction of the point cloud data corresponding to the second three-dimensional model; and in the main characteristic direction, iterating and determining a rotation and translation matrix through a nearest iteration point algorithm.
The implantation device 20 of the flexible electrode provided in the embodiment of the present invention can implement the technical solution of the implantation method of the flexible electrode in any embodiment, and the implementation principle and the beneficial effects thereof are similar to those of the implantation method of the flexible electrode, and reference may be made to the implementation principle and the beneficial effects of the implantation method of the flexible electrode, which are not described herein again.
Fig. 3 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 3, the electronic device may include: a processor (processor) 301, a communication Interface (communication Interface) 302, a memory (memory) 303 and a communication bus 304, wherein the processor 301, the communication Interface 302 and the memory 303 complete communication with each other through the communication bus 304. Processor 301 may invoke logic instructions in memory 303 to perform a method of implanting a flexible electrode, the method comprising: acquiring blood vessel characteristics and skull characteristics of the cranium according to an image of the cranium of an object to be processed; constructing a craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics; wherein, the craniocerebral fusion model is used for describing the spatial relationship between the blood vessel and the skull; based on the spatial relation between the blood vessels and the skull, the operation equipment is controlled to implant the flexible electrodes into the craniocerebral cortex of the object to be processed so as to obtain the craniocerebral signals of the object to be processed through the flexible electrodes.
In addition, the logic instructions in the memory 303 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is capable of executing the method for implanting a flexible electrode provided by the above methods, the method comprising: acquiring blood vessel characteristics and skull characteristics of the cranium according to an image of the cranium of an object to be processed; constructing a craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics; wherein, the craniocerebral fusion model is used for describing the spatial relationship between the blood vessel and the skull; based on the spatial relation between the blood vessels and the skull, the operation equipment is controlled to implant the flexible electrodes into the craniocerebral cortex of the object to be processed so as to obtain the craniocerebral signals of the object to be processed through the flexible electrodes.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing a method for implanting a flexible electrode provided by the above methods, the method including: acquiring blood vessel characteristics and skull characteristics of the cranium according to an image of the cranium of an object to be processed; constructing a craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics; wherein, the craniocerebral fusion model is used for describing the spatial relationship between the blood vessel and the skull; based on the spatial relation between the blood vessels and the skull, the operation equipment is controlled to implant the flexible electrodes into the craniocerebral cortex of the object to be processed so as to obtain the craniocerebral signals of the object to be processed through the flexible electrodes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A method of implanting a flexible electrode, comprising:
acquiring blood vessel characteristics and skull characteristics of a cranium according to an image of the cranium of an object to be processed;
constructing a craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics; wherein the craniocerebral fusion model is used for describing the spatial relationship between blood vessels and a skull;
based on the spatial relationship between the blood vessels and the skull, controlling an operation device to implant the flexible electrode into the craniocerebral cortex of the object to be processed so as to acquire craniocerebral signals of the object to be processed through the flexible electrode.
2. The method for implanting the flexible electrode according to claim 1, wherein the controlling an operation device to implant the flexible electrode into the craniocerebral cortex of the object to be treated based on the spatial relationship between the blood vessel and the skull comprises:
determining a target path from the craniocerebral implantation position to a target placement position of the craniocerebral cortex based on the spatial relationship between the blood vessels and the skull;
acquiring a mapping relation between an operation space of the operation equipment and an image space to which the target path belongs;
and controlling the operating equipment to implant the flexible electrode into the craniocerebral cortex according to the target path according to the mapping relation.
3. The method of claim 2, wherein the determining a target path between the brain implantation location to a target placement location of the cranial cortex based on a spatial relationship between the blood vessel and the skull comprises:
determining a plurality of paths between the craniocerebral implantation position to the target implantation position based on the spatial relationship between the blood vessels and the skull;
determining a score value corresponding to each path in the plurality of paths based on a preset target constraint function; wherein the target constraint function is constructed based on a path, the path and a vessel, and an implantation angle corresponding to the path;
and determining the target path from the paths according to the score value corresponding to each path.
4. The method for implanting the flexible electrode according to claim 2 or 3, wherein the obtaining of the mapping relationship between the operation space of the operation device and the image space to which the target path belongs comprises:
respectively determining a natural feature point of the cranium, a plurality of first position coordinates in the operation space and a plurality of second position coordinates in the image space;
constructing a spatial registration function; wherein the spatial registration function is constructed based on the position coordinates in the operation space, the position coordinates in the image space, a rotational transformation matrix and a translational transformation matrix between the operation space and the image space;
determining the rotational transformation matrix and the translational transformation matrix according to the plurality of first position coordinates, the plurality of second position coordinates, and the spatial registration function; wherein the rotation transformation matrix and the translation transformation matrix are used for describing the mapping relation between the operation space and the image space.
5. The method of claim 4, wherein determining the rotational transformation matrix and the translational transformation matrix from the plurality of first location coordinates, the plurality of second location coordinates, and the spatial registration function comprises:
determining corresponding first barycentric coordinates according to the first position coordinates, and determining corresponding second barycentric coordinates according to the second position coordinates;
constructing a symmetric matrix according to the plurality of first position coordinates, the first barycentric coordinate, the plurality of second position coordinates and the second barycentric coordinate;
and determining the rotation transformation matrix according to the eigenvector corresponding to the maximum eigenvalue of the symmetric matrix, and determining the translation transformation matrix according to the rotation transformation matrix, the first barycentric coordinate and the second barycentric coordinate.
6. The method for implanting a flexible electrode according to any one of claims 1 to 3, wherein the constructing a craniocerebral fusion model based on the vascular features and the cranial features comprises:
constructing a first three-dimensional model corresponding to the cranial vascular based on the vascular characteristics; constructing a second three-dimensional model corresponding to the skull based on the skull characteristics;
determining a rotation and translation matrix between the first three-dimensional model and the second three-dimensional model based on the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model;
and performing rotational translation processing on the first three-dimensional model and the second three-dimensional model based on the rotational translation matrix to obtain the craniocerebral fusion model.
7. The method of claim 6, wherein determining a rotational-translation matrix between the first three-dimensional model and the second three-dimensional model based on the point cloud data corresponding to the first three-dimensional model and the point cloud data corresponding to the second three-dimensional model comprises:
determining the point cloud data corresponding to the first three-dimensional model and the main characteristic direction of the point cloud data corresponding to the second three-dimensional model;
and in the main characteristic direction, iteratively determining the rotation and translation matrix through a nearest iteration point algorithm.
8. An implant device for a flexible electrode, comprising:
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring blood vessel characteristics and skull characteristics of the cranium according to an image of the cranium of an object to be processed;
the construction unit is used for constructing a craniocerebral fusion model based on the blood vessel characteristics and the skull characteristics; wherein the craniocerebral fusion model is used for describing the spatial relationship between blood vessels and a skull;
and the control unit is used for controlling the operation equipment to implant the flexible electrode into the craniocerebral cortex of the object to be processed based on the spatial relation between the blood vessel and the skull so as to acquire craniocerebral signals of the object to be processed through the flexible electrode.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements a method of implanting a flexible electrode according to any of claims 1 to 7.
10. A non-transitory computer-readable storage medium, having stored thereon a computer program, wherein the computer program, when executed by a processor, implements a method of implanting a flexible electrode according to any of claims 1 to 7.
CN202210743396.3A 2022-06-27 2022-06-27 Flexible electrode implantation method and device and electronic equipment Pending CN115316972A (en)

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