CN115830105B

CN115830105B - Electrode positioning device of electrode slice and electroencephalogram monitoring navigation system

Info

Publication number: CN115830105B
Application number: CN202310107581.8A
Authority: CN
Inventors: 旷雅唯; 刘文博; 李赞; 陈晗青
Original assignee: Sinovation Beijing Medical Technology Co ltd
Current assignee: Sinovation Beijing Medical Technology Co ltd
Priority date: 2023-02-14
Filing date: 2023-02-14
Publication date: 2023-04-25
Anticipated expiration: 2043-02-14
Also published as: CN115830105A

Abstract

The invention provides an electrode point positioning device of an electrode plate and an electroencephalogram monitoring navigation system, wherein the device comprises: a host configured to: positioning the electrode slice model to a medical image model according to the position information of the exposed electrode point; projecting the electrode point connecting line on the electrode plate model to the surface of a target tissue to obtain a projection line of the electrode point connecting line; and on the projection line, determining the positions of all deformation electrode points according to known intervals by taking the exposed electrode points as starting points. According to the invention, the electrode plate model is positioned into the medical image model through the exposed electrode points, the electrode point connecting line of the electrode plate model is projected onto the surface of the target tissue, the positions of the electrode points after the electrode plate deformation are searched on the projection line according to the known intervals by taking the exposed electrode points as starting points, the electrode plate deformation process is efficiently and simply simulated, the positions of the electrode points after the deformation are accurately determined, and the accuracy of electroencephalogram monitoring is improved.

Description

Electrode positioning device of electrode slice and electroencephalogram monitoring navigation system

Technical Field

The invention relates to the technical field of electrode implantation, in particular to an electrode point positioning device of an electrode sheet and an electroencephalogram monitoring navigation system.

Background

The human brain is continuously emitting weak bioelectric signals (electroencephalograms), which are called brain waves and are an intuitive manifestation of brain activity. By monitoring and studying these weak electrical signals, we can understand the physiological state in real time in the brain. Brain diseases or brain tissue lesions can cause abnormal brain tissue discharge, particularly epilepsy, which can cause brain strong abnormal discharge, and a doctor can be helped to determine the type of the diseases and the occurrence position of the diseases by monitoring brain electrical signals, so that precious information is provided for determining a treatment scheme.

At present, an electrode sheet with a plurality of electrode points is usually used for directly contacting the surface of cerebral cortex to obtain brain electrical data, in order to reduce the trauma to a patient, a small wound is usually made on the skull of the patient, and the electrode sheet is inserted into the small wound so that the electrode sheet is attached to the surface of cerebral cortex.

However, the doctor can only see the position of partial electrode point on the electrode slice through the wound that exposes, and the electrode point of other "inserting" parts is sheltered from by the skull, simultaneously, the electrode slice still can receive extrusion deformation, consequently the doctor is difficult to accurately confirm the position of each electrode point of non-exposure wound department, has reduced bioelectric signal's monitoring effect.

Disclosure of Invention

The invention provides an electrode point positioning device of an electrode plate and an electroencephalogram monitoring navigation system, which are used for solving the defect that the electrode point position of a non-exposed wound is difficult to accurately determine in the prior art and improving the electroencephalogram monitoring effect.

The invention provides an electrode point positioning device of an electrode plate, comprising:

a host configured to:

registering the electrode slice model to a medical image model according to the position information of the exposed electrode points;

projecting the electrode point connecting line on the electrode plate model to the surface of a target tissue to obtain a projection line of the electrode point connecting line;

and on the projection line, determining the positions of all deformation electrode points according to known intervals by taking the exposed electrode points as starting points.

In some embodiments, the electrode sheet of the present invention is a cortical electrode sheet.

According to the electrode point positioning device of the electrode sheet, the position information of the exposed electrode point is obtained by the following steps:

the exposed electrode point is selected by a positioning probe, and the space position of the positioning probe is tracked by a first tracking device; taking the three-dimensional coordinate information of the tail end of the positioning probe as the position information of the exposed electrode point;

Or, collecting point cloud data containing the exposed electrode point through the handheld point cloud collector; and determining the position information of the exposed electrode point according to the position of the handheld point cloud collector tracked by the second tracking device and the point cloud data.

When the invention refers to a handheld point cloud collector, the point cloud collector refers to a stereoscopic camera (binocular or multi-view), a structured light camera, a time-of-flight camera (ToF camera), a depth measurement camera (e.g., RGB-D camera), etc., so that surface information of a target area, such as a point cloud, etc., can be captured; in addition, the device has a traceable structure, and the position can be identified by the traceable structure (such as a reflecting sphere, a corner point and the like) and coordinate transformation can be carried out.

Based on any of the above embodiments, in one embodiment, registering the electrode slice model to the medical image model according to the positional information of the exposed electrode points includes:

acquiring a two-dimensional image after the electrode slice is implanted;

determining an exposed electrode point in the two-dimensional image, and extracting a target tissue characteristic point in the two-dimensional image;

and rigidly registering the electrode slice model to a medical image model according to the position relation between the exposed electrode point and the target tissue characteristic point in the two-dimensional image.

According to the electrode point positioning device of the electrode sheet, the exposed electrode points comprise at least three non-collinear electrode points.

According to the electrode point positioning device of the electrode plate provided by the invention, the projection line of the electrode point connecting line of the electrode plate model is projected to the surface of a target tissue, so as to obtain the projection line of the electrode point connecting line, and the electrode point positioning device comprises the following components:

sampling lines among electrode points in the electrode sheet model, wherein each sampling point and each electrode point form a first mesh point cloud;

and projecting the first mesh point cloud to the target tissue surface along the normal vector of the electrode slice model plane, wherein a series of projection points corresponding to each point on the electrode point connecting line form a projection line of the electrode point connecting line.

According to the electrode point positioning device of the electrode plate, the projection of the first mesh point cloud to the target tissue surface along the normal vector of the electrode plate model plane comprises the following steps:

translating the first mesh point cloud upwards along the normal vector of the electrode slice model plane to obtain a second mesh point cloud, and translating the first mesh point cloud downwards along the normal vector of the electrode slice model plane to obtain a third mesh point cloud; connecting the second mesh point cloud with the points with translation corresponding relation in the third mesh point cloud, wherein the intersection point of the connection line and the target tissue surface is the projection point of the corresponding point in the first mesh point cloud;

Or translating the first mesh point cloud upwards along the normal vector of the electrode slice model plane to obtain a second mesh point cloud, and projecting the second mesh point cloud downwards to the target tissue surface to determine each projection point;

or translating the first mesh point cloud downwards along the normal vector of the electrode plate model plane to obtain a third mesh point cloud, projecting the third mesh point cloud upwards until each projection point is determined on the target tissue surface, and forming a projection line of the electrode point connecting line by a series of projection points corresponding to each point on the electrode point connecting line.

fitting a spherical surface according to the shape of the target tissue surface, and determining the spherical center of the fitted spherical surface;

and connecting each point of the first mesh point cloud with the sphere center respectively, determining the intersection point of the connection line and the target tissue surface as a corresponding projection point, wherein a series of projection points corresponding to each point on the electrode point connection line are projection lines of the electrode point connection line.

According to the electrode point positioning device of the electrode plate, the electrode point connecting line on the electrode plate model is obtained in the following mode:

under the condition that all electrode points on the electrode plates are connected together through a reinforcing structure, all electrode points are connected along the central line of the reinforcing structure;

or under the condition that each electrode point on the electrode plate forms a parallelogram array, connecting each electrode point in the electrode plate model by utilizing a plurality of connecting lines in a first direction and a plurality of connecting lines in a second direction;

or, each electrode point is wired to the nearest neighboring electrode point.

According to the electrode point positioning device of the electrode plate, before the electrode point connecting line on the electrode plate model is projected to the surface of the target tissue to obtain the projection line of the electrode point connecting line, the method further comprises the following steps:

filling the sulcus on the surface of the target tissue based on morphological processing; wherein the target tissue surface is the cerebral cortex.

According to the electrode point positioning device of the electrode plate, after registering the electrode plate model to the medical image model according to the position information of the exposed electrode points, before projecting the electrode point connecting line on the electrode plate model to the target tissue surface to obtain the projection line of the electrode point connecting line, the method further comprises:

And expanding the electrode point array in the electrode plate model to the periphery for a preset number of turns.

According to the electrode point positioning device of the electrode sheet provided by the invention, on the projection line, the positions of all deformation electrode points are determined according to known intervals by taking the exposed electrode points as starting points, and the electrode point positioning device comprises the following steps:

the exposed electrode point is taken as a starting point, and the position of the corresponding deformed electrode point is determined on a projection line by combining the known interval between the starting point in the electrode sheet model and the next electrode point in the corresponding projection line direction;

and taking the determined positions of the deformed electrode points as new starting points, and performing the next iteration until all the positions of the deformed electrode points are determined.

The invention also provides an electrode point positioning method of the electrode plate, which comprises the following steps:

positioning the electrode slice model to a medical image model according to the position information of the exposed electrode point;

The invention also provides an electrode plate, which comprises a flexible substrate, a plurality of electrode points distributed on the flexible substrate and electrode wires respectively connected with the electrode points and gathered in the electrode wire sleeve, and is characterized in that electrode point numbers are arranged on at least one electrode point or at least one flexible substrate beside the electrode point.

The invention also provides an electroencephalogram monitoring navigation system, which is characterized by comprising:

the device comprises an electrode slice, an electroencephalogram processing module, a positioning probe or a handheld point cloud collector, a tracking device and a position correction module;

the electroencephalogram processing module is connected with the electrode plates and is used for processing and displaying electroencephalograms corresponding to the electrode points;

the positioning probe is used for clicking an exposed electrode point on the electrode plate, or the handheld point cloud collector is used for collecting point cloud data containing the exposed electrode point;

the tracking device is configured to: tracking the positioning probe to determine the position information of the exposed electrode point, or tracking the position of the handheld point cloud collector and determining the position information of the exposed electrode point by combining the point cloud data collected by the handheld point cloud collector;

the correction module is configured to: positioning the electrode slice model to a medical image model according to the position information of the exposed electrode point; projecting the electrode point connecting line on the electrode plate model to the surface of a target tissue to obtain a projection line of the electrode point connecting line; and on the projection line, determining the positions of all deformation electrode points according to known intervals by taking the exposed electrode points as starting points.

In some embodiments, the electrode points of the electrode pads may be numbered by electrode point numbering on the electrode points or on the flexible substrate beside the electrode points; in other embodiments, the electrode points have no readable numbering, but may be numbered based on the position of the exposed electrode points relative to the electrode sheet profile, which in turn corresponds to the corresponding electrode points in the electrode sheet model.

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, said processor implementing all or part of the steps of the electrode spot positioning method of the electrode pad as described above when executing said program.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements all or part of the steps of an electrode spot positioning method of an electrode sheet as described above.

According to the electrode point positioning device and the electroencephalogram monitoring navigation system for the electrode plate, the electrode plate model is positioned in the medical image model through the exposed electrode points, the electrode point connecting line of the electrode plate model is projected to the surface of a target tissue, the positions of the electrode points after the electrode plate is deformed are searched on the projection line according to the known intervals by taking the exposed electrode points as starting points, the electrode plate deformation process is efficiently and simply simulated, the positions of the electrode points after the deformation are accurately determined, and the electroencephalogram monitoring accuracy is improved.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a diagram of one of the partial interfaces displayed by the electrode pad positioning device of the electrode pad of the present invention after the host computer executes the corresponding instructions after loading the application program;

FIG. 2 is a second interface of the electrode pad positioning device of the present invention after the host computer executes the corresponding instruction after loading the application program;

FIG. 3 is a third interface of the electrode pad positioning device of the present invention after the host computer executes the corresponding instruction after loading the application program;

FIG. 4 is a schematic view of an electrode sheet model according to the present invention;

FIG. 5 is a second schematic diagram of the electrode plate mold according to the present invention;

FIG. 6 is a schematic flow chart of an electrode point positioning method of an electrode plate according to the present invention;

fig. 7 is a schematic structural diagram of an electroencephalogram monitoring navigation system according to the present invention

Fig. 8 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The electrode plate can be used for being implanted on the surface of a target tissue to measure the brain electricity on the surface of the target tissue, and is extruded by the implantation position after being implanted, so that the electrode plate is easy to deform, and the position of each electrode point is difficult to accurately determine.

The electrode sheet typically includes a flexible substrate, and a plurality of electrode points distributed on the flexible substrate, each of which may be used to monitor the bioelectric signal. The electrode points in the electrode plates can be distributed in any mode, such as grid-shaped distribution, annular distribution and the like, and the electrode plates can also be strip-shaped single-column electrode plates. No matter what kind of distributed electrode plate is adopted, under the condition that the electrode plate is implanted by 'small wound inserting electrode' in the background technology, the corresponding technical problems exist, and the electrode point positioning device and method of the electrode plate can be applied.

The invention provides an electrode point positioning device of an electrode plate, which comprises a host machine, wherein the host machine is configured to:

The target tissue surface is a location where the electrode sheet needs to be implanted to monitor bioelectricity, such as a cerebral cortex surface, extradural, subdural, subarachnoid, etc., and is not limited to a cerebral cortex surface. After the electrode sheet is implanted from the wound to the target tissue surface, a part of the electrode sheet is still visually visible, the exposed electrode points, namely the electrode points which are located in the wound range and are visually visible, can be corresponding to the electrode points in the electrode sheet model through the numbers of the exposed electrode points, can also be determined according to the positions of the exposed electrode points relative to the outline of the electrode sheet, and further can be corresponding to the corresponding electrode points in the electrode sheet model. It will be appreciated that the foregoing "visually observable" does not mean continuously observable, but merely means that there is a period of "visually observable" process, and that the "exposure" herein is also merely to distinguish electrode points, and does not mean that the wound is continuously exposed, e.g., the physician sews the wound after implanting the electrode pad, and continuously monitors the brain electricity through the implanted electrode pad. The exposed electrode points may be all or a portion of the visually visible electrode points.

Since the exposed electrode point is an electrode point visually visible in the wound area, accordingly, the positional information of the exposed electrode point can be directly determined. The position information of the exposed electrode point can be three-dimensional coordinate information of the electrode point in space, and can be obtained by matching with a tracking device, for example, the exposed electrode point is selected by a positioning probe, the tracking device tracks the space position of the positioning probe, the three-dimensional coordinate information of the electrode point corresponding to the tail end of the probe is output, and for example, the position of a handheld point cloud collector is tracked by the tracking device, and the handheld point cloud collector collects point cloud data containing the exposed electrode, so that the position information of the exposed electrode point is determined; the position information of the exposed electrode point can also be the relative position relation of the partial electrode point relative to the surface of the target tissue, specifically, a two-dimensional image of the wound position after the electrode plate is implanted can be acquired through an image acquisition device, the two-dimensional image is subjected to image processing, and the relative position relation of the exposed electrode point and the surface of the target tissue is determined according to the two-dimensional image, for example, the position relation of the exposed electrode point relative to the cerebral sulcus, the position relation relative to the vascular texture and the like. According to the position information of the exposed electrode points, the electrode slice model is positioned and overlapped on the medical image model, so that the medical image model overlapped with the electrode slice model can be preliminarily corresponding to the state of the surface of the target tissue implanted with the electrode slice. The electrode slice model is a model which is built in advance according to an undeformed electrode slice, and the medical image model is a model which is built in advance according to a medical image containing target tissues.

The point cloud collector of the handheld point cloud collector refers to a stereoscopic camera (binocular or multi-view), a structured light camera, a time of flight camera (ToF camera), a depth measurement camera (e.g., RGB-D camera), etc., so that surface information of a target area, such as a point cloud, etc., can be captured; in addition, the device has a traceable structure, and the position can be identified by the traceable structure (such as a reflecting sphere, a corner point and the like) and coordinate transformation can be carried out.

After the electrode plate model is positioned to the medical image model, the electrode point connecting line in the electrode plate model is projected to the target tissue surface in the medical image model in the model space, so that the projection line of the electrode point connecting line is obtained, and the position of the electrode point after deformation is conveniently determined by simulating the deformation of the electrode plate through projection. Further, the positions of the corresponding deformed electrode points are determined by searching on the projection line with the exposed electrode points as the starting points according to the known intervals among the electrode points in the electrode plate model. It will be appreciated that the deformed electrode point, i.e. the electrode point where the position of the electrode plate changes correspondingly after being deformed by the tissue compression.

In the embodiment, the electrode plate model is positioned into the medical image model through the exposed electrode points, the electrode point connecting line of the electrode plate model is projected onto the surface of the target tissue, the positions of the electrode points after electrode plate deformation are searched on the projection line according to the known intervals by taking the exposed electrode points as starting points, the electrode plate deformation process is efficiently and simply simulated, the positions of the electrode points after deformation are accurately determined, and the accuracy of electroencephalogram monitoring is improved.

The following describes, in one embodiment, the positioning device for the electrode points of the electrode sheet according to the present invention with reference to fig. 1-3, where fig. 1-3 show a part of a display interface of a host of the positioning device after the host executes corresponding instructions by loading an application program: the lower left corner of fig. 1 shows a medical image model (i.e., a brain tissue model in this embodiment), fig. 2 shows a plan view of an electrode patch model containing an 8×8 electrode dot array, after an exposed electrode dot is selected (e.g., electrode dots numbered "11", "27", "29" are selected as exposed electrode dots), the exposed electrode dot is positioned into the medical image model according to its positional information, then the electrode dots on the electrode patch model are projected onto the surface of the medical image model (i.e., the brain tissue model in this embodiment) in the model space, and deformed electrode dots are searched (positioned) at intervals between the electrode dots in the known electrode patch model with the exposed electrode dot as a starting point on the projection line, and fig. 3 shows a schematic view after the electrode dots on the electrode patch are positioned onto the brain tissue surface according to the exposed electrode dot.

Based on any of the above embodiments, in one embodiment, the position information of the exposed electrode point is obtained by:

The method comprises the steps of selecting an exposed electrode point by using a positioning probe, and tracking the position of the positioning probe by using a first tracking device; taking the three-dimensional coordinate information of the tail end of the positioning probe as the position information of the exposed electrode point;

Specifically, the patient space has been registered to the medical image space prior to surgery by patient registration, i.e. the coordinate transformation relationship between the patient coordinate system and the medical image model coordinate system is determined. In this embodiment, the position information of the exposed electrode point is obtained by matching with the tracking device, in one scheme, the doctor uses the end point of the positioning probe to select the exposed electrode point, the tracking device can track the three-dimensional coordinate information of the marker (optical marker, electromagnetic positioning marker, etc.) on the positioning probe, and then the position information of the end (i.e. the exposed electrode point) of the positioning probe can be determined by combining the relative position relationship between the marker and the end of the probe; in another scheme, point cloud data containing the exposed electrode points are collected through the handheld point cloud collector, the tracking device tracks three-dimensional coordinate information of the handheld point cloud collector, and position information of the exposed electrode points can be determined through coordinate conversion of the point cloud data. It can be understood that the exposed electrode points are all or part of the visually visible electrode points selected in the wound range, the position information of each exposed electrode point needs to be selected and determined, and after the position information of each exposed electrode point is determined, the coordinate conversion relation between the patient coordinate system (tracking device coordinate system) and the medical image model coordinate system is combined, so that each exposed electrode point can be corresponding to the medical image model coordinate system for positioning the electrode plate model, and the electrode plate model is positioned and overlapped in the medical image model.

In some embodiments, the handheld point cloud collector is a handheld structured light camera, including a projection structure, a camera, and a tracking structure that can be tracked by the tracking device, converting the coordinate system of the point cloud collected by the structured light camera to the coordinate system of the tracking device.

In the embodiment, the position information of the exposed electrode point is accurately determined by matching with the tracking device, and the exposed electrode point can be rapidly corresponding to the medical image model by combining with the patient registration process, so that the electrode plate model is positioned, and the positioning accuracy and the data processing efficiency are improved.

acquiring a two-dimensional image after the electrode slice is implanted;

Specifically, the host firstly acquires a two-dimensional image after the electrode slice is implanted, for example, receives the two-dimensional image acquired by the external image acquisition equipment, and for example, the device is provided with an image acquisition module, and the host directly acquires the stored two-dimensional image from the storage module. At least three exposed electrode points are determined in the two-dimensional image, target tissue characteristic points (such as blood vessels, cerebral palsy and texture characteristics) in the two-dimensional image are extracted, and then the position relation between the exposed electrode points and the target tissue characteristic points is determined, and the electrode slice model can be positioned by combining the position relation and is rigidly registered into the medical image model.

In the embodiment, the position relation between the exposed electrode point and the target tissue characteristic point is determined by acquiring the two-dimensional image, and then the electrode plate model is accurately positioned and registered into the medical image model according to the position relation, so that a good foundation is laid for determining the deformed electrode point position.

Based on any of the above embodiments, in one embodiment, the exposed electrode points include at least three non-collinear electrode points.

In particular, positioning of the electrode sheet model is facilitated by the use of at least three non-collinear electrode points, and in addition, the exposed electrode points are preferably electrode points selected from relatively less deformed portions (i.e., relatively flatter portions) of the electrode sheet to improve accuracy of rigid registration.

Based on any of the foregoing embodiments, in one embodiment, the projecting the electrode point connection line of the electrode slice model onto the target tissue surface, to obtain a projection line of the electrode point connection line, includes:

Specifically, sampling is performed on the connection line of each electrode point, each sampling point and each electrode point form a first mesh point cloud, the purpose of generating the first mesh point cloud is to discretize the electrode point connection line, data processing is convenient for a computer, then the first mesh point cloud is projected to the surface of a target tissue along the normal vector of the electrode slice model plane, and a series of projection points corresponding to each point on the electrode point connection line form projection lines of the electrode point connection line.

In this embodiment, sampling is performed on each electrode point connection line, so as to generate a first mesh point cloud, each electrode point connection line is converted into a form convenient for computer processing, and projection lines of each electrode point connection line are conveniently and efficiently determined by projecting the first mesh point cloud along a normal vector of an electrode sheet model plane, and the projection lines can be used for determining the falling point direction of the deformed electrode points.

Based on any of the above embodiments, in one embodiment, the projecting the normal vector of the first mesh point cloud along the electrode sheet model plane to the target tissue surface includes:

In particular, the target tissue surface may be partially above the first mesh point cloud and partially below the first mesh point cloud, and projection in only one direction may result in incomplete projection data.

For this reason, the first mesh point cloud may be translated along the normal vector direction of the electrode slice model to generate the second mesh point cloud and the third mesh point cloud, and the target tissue surface may be located between the second mesh point cloud and the third mesh point cloud. The intersection point of the connecting line of the points with the translation corresponding relation in the second mesh point cloud and the third mesh point cloud and the target tissue surface is the projection point of the corresponding point in the first mesh point cloud, and the projection line is determined by projection in the mode, so that the falling point direction of the deformed electrode point can be determined quickly and with small calculation amount.

The first mesh point cloud can be translated upwards along the normal vector of the electrode slice model plane to obtain a second mesh point cloud, then projected downwards to the target tissue surface along the normal vector, or the first mesh point cloud can be translated downwards along the normal vector of the electrode slice model plane to obtain a third mesh point cloud, then projected upwards to the target tissue surface along the normal vector, projection data can be conveniently and comprehensively obtained, and a complete projection line is determined.

Specifically, sampling is performed on the connection line of each electrode point, each sampling point and the electrode point form a first mesh point cloud, and the purpose of generating the first mesh point cloud is to discretize the connection line of the electrode points, so that a computer can conveniently perform data processing, and the connection line of the electrode points can be conveniently, rapidly and efficiently projected onto the surface of a target tissue. A sphere is fitted according to the shape of the target tissue surface, and the fitted sphere can be an outer sphere, an inner sphere, a sphere which enables the cumulative distance from each point on the target tissue surface of the sphere to be minimum, and the like. And then, connecting each point on the first mesh point cloud with the spherical center of the fitting spherical surface respectively, taking the connecting line as a projection direction, taking the intersection point of the connecting line and the surface of the target tissue as a corresponding projection point, and forming a projection line of the electrode point connecting line by a series of projection points corresponding to each point (comprising an electrode point and a sampling point) on the electrode point connecting line.

In this embodiment, sampling is performed on each electrode point connection line to generate a first mesh point cloud, each electrode point connection line is converted into a form convenient for computer processing, each point on the first mesh point cloud is projected to the target tissue surface along the direction of the fitted sphere center by fitting a sphere to the target tissue surface, and the projection line of each electrode point connection line is simply and accurately determined to the falling point direction of each electrode point.

Based on any of the foregoing embodiments, in one embodiment, the electrode point connection line on the electrode sheet model is obtained by:

or, each electrode point is wired to the nearest neighboring electrode point.

Specifically, the connection between the electrode points in the electrode sheet model may take various forms: for example, referring to fig. 4, in the case where the electrode points on the electrode sheet are connected together by the reinforcing structure (i.e., the network lines in the "upper left-lower right" and "lower left-upper right" directions in fig. 4), the electrode points are connected along the center line of the reinforcing structure, and for example, referring to fig. 5, the electrode points are connected along the center line of the elliptical chain-shaped reinforcing structure, at this time, due to the presence of the reinforcing structure, the deformation degree of the electrode sheet along the direction of the reinforcing structure is minimal, and the deformed electrode points are searched on the projection line determined based thereon, so that the positioning is more accurate; for example, when the electrode points on the electrode sheet form a parallelogram (including rectangle and diamond) array, the electrode points in the electrode sheet model are connected by using a plurality of connecting lines in the first direction and a plurality of connecting lines in the second direction, for example, referring to fig. 4, the electrode points can be connected along both the transverse direction and the longitudinal direction in fig. 4, for example, referring to fig. 5, the electrode points can be connected along the rectangular minimum unit connecting line of the electrode points in the rectangular array in fig. 5, at this time, the connecting lines in the first direction and the second direction connect the electrode points by using as few connecting lines as possible, so that the data processing efficiency is improved; for another example, each electrode point is wired to the nearest neighboring electrode point.

It can be understood that the above-mentioned centralized electrode point connection is not a mutually exclusive scheme, and an alternative may be selected when the electrode point connection is generated; furthermore, in order to facilitate computer processing, the three conditions can be traversed sequentially, and corresponding connection schemes are selected when the use conditions are met.

In the embodiment, the electrode point connecting lines are generated in various modes, so that the electrode point positioning accuracy is improved, the data processing amount is reduced, and the processing efficiency is improved.

Based on any of the foregoing embodiments, in one embodiment, before the projecting the electrode point connection line on the electrode sheet model onto the target tissue surface, the method further includes:

Specifically, the target tissue surface implanted by the electrode plate in this embodiment is a cerebral cortex surface, and since the electrode plate is made of a softer material, the electrode plate has small extrusion deformation to the cerebral cortex gyrus, and the electrode plate can "cross" the cerebral sulcus with a certain radian. Therefore, the cerebral cortex in the medical image model is filled through morphological processing, and accordingly, when the electrode point connecting line on the electrode plate model is projected onto the cerebral cortex, the electrode point connecting line can be projected onto the cerebral cortex after cerebral cortex filling, and the falling point direction and the falling point position of the electrode point after electrode plate deformation can be accurately determined on the basis. It will be appreciated that the filling of the sulcus is used herein only to simulate the deformation of the electrode pads, other procedures involving the cortex, such as model registration, doctor's observation of the cortex, etc., and the cortex prior to sulcus filling is still used.

Further, the medical image model may be processed using an expansion operation that may "fill" the sulcus to some extent. Furthermore, the brain sulcus in the medical image model can be filled by using a closed operation, namely, the image is firstly expanded and then corroded, and the closed operation can fill the internal cavity and the image concave corner point in the image without changing other contours. The specific degree of filling (how much to fill) can be adjusted by adjusting the size of the structural elements during the closing operation.

In the embodiment, the morphological processing is utilized to fill the cerebral sulci on the surface of the target tissue in the medical image model, so that the effect of simulating the deformation of the electrode plate is more practical, and the position of the electrode point after the deformation can be more accurately determined.

Based on any of the above embodiments, in one embodiment, after the registering the electrode patch model to the medical image model according to the position information of the exposed electrode points, before the projecting the electrode point connection line on the electrode patch model to the target tissue surface, the method further includes:

Specifically, after the electrode slice model is registered to the medical image model, the electrode point array in the electrode slice model can be expanded to the periphery for electrode points with preset circles, for example, the electrode point array with the number of 8 x 8 is expanded to the periphery for one circle to be expanded to the electrode point array with the number of 10 x 10. Then, the electrode point connecting line in the expanded electrode sheet model is projected to the surface of the target tissue, so that when the deformed electrode point is searched on the projection line, a sufficient searching range (projection line range) exists, and the situation that the deformed electrode point cannot be searched is avoided.

Based on any of the foregoing embodiments, in one embodiment, the determining, on the projection line, positions of the deformed electrode points with the exposed electrode points as a starting point at a known interval includes:

Specifically, the exposed electrode point is an electrode point with an accurate position in the wound range, the exposed electrode point is taken as a starting point, the position of the corresponding deformed electrode point is determined on the projection line by combining the distance between the starting point in the electrode sheet model and the next electrode point in the direction of the corresponding projection line, namely, the length of the electrode sheet is not stretched after deformation, the position of the next electrode point after deformation of the electrode sheet is determined in the projection direction according to the characteristic, and the positions of all deformed electrode points can be determined by analogy. Further, since the projection line after the electrode point connection line is projected onto the target tissue surface is usually a curve, the calculation amount is large by calculating the cumulative distance to the projection curve to search for the position of the deformed electrode point, so that the distance between the discrete projection points can be gradually accumulated on the basis of the discretized projection line until the projection point where the cumulative distance meets the known distance requirement is determined, and the projection point is used as the deformed electrode point.

For example, referring to the electrode patch model of fig. 4, for the electrode points 41, 42, 43, 51, 52, 61 in the electrode patch model, where 51, 61, 52 are selected exposed electrode points, the positions of which are accurate, may be used to register the electrode patch model to the medical image model, the electrode points 51, 61, 52 remain electrode points 51, 61, 52 after being projected onto the target tissue surface, the electrode points 41, 42, 43 are invisible electrode points, and the projected points after being projected onto the target tissue surface are denoted as 41 ', 42 ', 43 ', respectively. The position 41 "of the electrode point 41 after deformation of the electrode sheet can be determined by: the projection line of the electrode point connection line 51-41 is 51-41 ' (may be a curve), the electrode point 51 is used as a starting point, searching is performed on the projection line 51-41 ', and when the searching distance reaches the straight line distance of the electrode point connection line 51-41, the determined projection point is the position 41 ' of the deformed electrode point corresponding to the electrode point 41. Similarly, the position 43″ of the electrode point 43 after deformation of the electrode sheet can be determined by: the projection line of the electrode point connection line 52-43 is 52-43 '(may be a curve), the electrode point 52 is used as a starting point, a search is performed on the projection line 52-43', and when the straight line distance from the electrode point connection line 52-43 is searched, the determined projection point is the position 43″ of the deformed electrode point corresponding to the electrode point 43. Further, for each deformed electrode point of the position to be determined, the deformed position thereof may be determined with the deformed electrode point of the nearest determined position thereof as the starting point, or with the nearest exposed electrode point thereof as the starting point, that is, for the electrode point 42, it is preferable to search for the deformed electrode point 42″ on the projection line 52-42″ with higher positioning accuracy than the accuracy of determining the deformed electrode point 42″ with the electrode point 51 as the starting point.

In the embodiment, the exposed electrode points with the known accurate positions in the wound range are taken as the starting points, each electrode point is initially positioned, and the positions of the deformed electrode points are searched on the projection line according to the known distances on the projection line, so that the deformed electrode points are accurately positioned; by discretizing the electrode point connecting line and efficiently searching the deformed electrode points on the discretized projection line, the data processing efficiency is improved.

The following describes an electrode positioning method of an electrode sheet according to the present invention, where the electrode positioning method of the electrode sheet described below may correspond to the electrode positioning device of the electrode sheet described above by referring to each other, and fig. 6 is a schematic flow chart of the electrode positioning method of an electrode sheet according to the present invention, as shown in fig. 6, and the method includes:

s610, positioning the electrode slice model to a medical image model according to the position information of the exposed electrode points;

s620, projecting the electrode point connecting line on the electrode plate model to the surface of a target tissue to obtain a projection line of the electrode point connecting line;

s630, on the projection line, the positions of all deformation electrode points are determined according to known intervals by taking the exposed electrode points as starting points.

In the embodiment, the electrode slice model is positioned into the medical image model through the exposed electrode points, and then the electrode point connecting line of the electrode slice model is projected onto the surface of the target tissue, so that the electrode slice deformation process is efficiently and accurately simulated, and the deformed electrode point position is accurately determined by searching on the projection line with the exposed electrode points as starting points according to known intervals.

The electrode sheet provided by the invention comprises a flexible substrate, a plurality of electrode points distributed on the flexible substrate, and electrode wires respectively connected with the electrode points and gathered in a wire electrode sleeve, wherein electrode point numbers are arranged on at least one electrode point or at least one flexible substrate beside the electrode point.

Specifically, the electrode sheet comprises a flexible substrate, and the flexible substrate is made of flexible insulating materials such as medical silica gel, polyurethane, polyethylene, polypropylene, polytetrafluoroethylene, parylene, polyvinyl chloride and the like. The electrode plate also comprises a plurality of electrode points distributed on the flexible substrate and electrode wires which are respectively connected with the electrode points and are converged in the electrode wire sleeve. The shape of the electrode point can be set according to requirements, such as a circle, a square, a rectangle, an ellipse, a triangle, a ring shape and the like, the material of the electrode point can be one or more of medical stainless steel, platinum iridium alloy, platinum, silver, gold, titanium alloy and nickel titanium alloy, and the material of the electrode wire can be one or more of medical stainless steel, platinum iridium alloy, nickel titanium alloy, titanium and titanium alloy. Electrode point numbers are arranged on at least one electrode point, or electrode point numbers are arranged on the flexible substrate beside at least one electrode point, wherein the term "beside an electrode point" is defined as a range where the distance between the electrode point and the electrode point is smaller than a preset distance (flexible setting is required, for example, the distance between the electrode points is 8mm, and the preset distance is set to be 3 mm). Specifically, the electrode points on the electrode plates are predefined with numbers so as to correspond to specific brain electrical data, and the brain electrical of the corresponding human body part can be conveniently observed. For the electrode sheet product, all or part of the electrode points can be printed/engraved with the corresponding electrode point numbers, so that doctors can conveniently and intuitively determine the identity numbers of all the electrode points, for example, the electrode points with even numbers are printed/engraved with the corresponding electrode point numbers, and for example, the electrode points with odd columns (column 1, column 3, column 5 and column … …) are printed/engraved with the corresponding electrode point numbers.

Still referring to the electrode sheet model of fig. 4, in a specific example, the mark "11" may be set on the electrode point of the first row of the first column, the mark "13" may be set on the electrode point of the third row of the first column, the mark "31" may be set on the electrode point of the first row of the third column, the mark "33" may be set on the electrode point of the third row of the third column, the mark "51" may be set on the electrode point of the first row of the fifth column, the mark "53" may be set on the electrode point of the third row of the fifth column, the mark "71" may be set on the electrode point of the first row of the seventh column, and the mark "73" may be set on the electrode point of the third row of the seventh column.

In the embodiment, the electrode point numbers are arranged on at least one electrode point or on the flexible substrate beside the at least one electrode point, so that doctors can conveniently determine the identity numbers of the electrode points at each point, the positions of the electrode points can be conveniently corresponding to specific electroencephalogram data, and the efficiency of observing the electroencephalogram by the doctors is improved.

The electroencephalogram monitoring navigation system provided by the invention is explained below, and the electroencephalogram monitoring navigation system described below can be corresponding to the electrode point positioning device of the electrode plate described above in a cross-reference manner.

Fig. 7 is a schematic structural diagram of an electroencephalogram monitoring navigation system according to the present invention, as shown in fig. 7, the system includes:

electrode pad 710, electroencephalogram processing module 720, positioning probe or handheld point cloud collector 730, tracking device 740, and position correction module 750;

the electroencephalogram processing module 720 is connected with the electrode plate 710 and is used for processing and displaying electroencephalogram corresponding to each electrode point;

the positioning probe 730 is used for clicking an exposed electrode point on the electrode sheet, or the handheld point cloud collector collects point cloud data including the exposed electrode point;

the tracking device 740 is configured to: tracking the position probe 730 to determine positional information of the exposed electrode point, or tracking the position of the handheld point cloud collector 730 and determining positional information of the exposed electrode point in combination with point cloud data collected by the handheld point cloud collector;

the position correction module 750 is configured to: positioning the electrode slice model to a medical image model according to the position information of the exposed electrode point; projecting the electrode point connecting line on the electrode plate model to the surface of a target tissue to obtain a projection line of the electrode point connecting line; and on the projection line, determining the positions of all deformation electrode points according to known intervals by taking the exposed electrode points as starting points.

Specifically, the electrode wires of the electrode sheet 710 transmit the electroencephalogram signals to the electroencephalogram processing module 720, and the electroencephalogram processing module 720 is used for processing and displaying the electroencephalogram corresponding to each electrode point, and the other modules determine the corresponding generation positions of the electroencephalogram. Specifically:

firstly, determining the position information of the exposed electrode points, in one scheme, clicking the exposed electrode points on the electrode plate through the positioning probe 730, wherein it is understood that a plurality of exposed electrode points need to be clicked in sequence, the tracking device 740 tracks the three-dimensional coordinate information of the markers (optical markers, electromagnetic positioning markers and the like) on the positioning probe 730, and then, combining the relative position relation between the markers and the probe end, can determine the position information of the positioning probe end (namely the exposed electrode point); in another aspect, the handheld point cloud collector 730 is used to collect point cloud data including the exposed electrode point, the tracking device 740 is used to track three-dimensional coordinate information of the handheld point cloud collector 730, and the position information of the exposed electrode point can be determined by performing coordinate conversion on the point cloud data.

Then, the position correction module 750 combines the coordinate conversion relation between the patient coordinate system and the medical image coordinate system determined by the patient registration according to the position information of the exposed electrode point to position the electrode slice model to the medical image model; projecting the electrode point connecting line on the electrode plate model to the surface of the target tissue in the model space to obtain a projection line of the electrode point connecting line; and on the projection line, determining the positions of all deformation electrode points according to known intervals by taking the exposed electrode points as starting points.

In addition, in the present system, the electroencephalogram processing module 720, the tracking device 740, and the position correction device 750 may be integrated into one device, may be partially integrated, or may be separate devices. For example, the same host computer comprises an electroencephalogram processing module 720 and a position correction module 750, the host computer processes and displays electroencephalogram data through the electroencephalogram processing module 720, and the position correction module 750 is matched with an external tracking device 740 to determine the positions of electrode points after electrode plate deformation. For another example, the tracking device 740 and the position correction module 750 are integrated into a device, and the host of the device is not only used for processing the tracking data of the positioning probe 730, but also can call the position correction module 750 to determine the position of each electrode point in the deformed electrode slice in combination with the tracking data.

The tracking device and the positioning probe accurately determine the position information of the exposed electrode point, and the exposed electrode point can be rapidly corresponding to the medical image model by combining the coordinate conversion relation from the patient space to the medical image model space, which is predetermined in the patient registration process, so that the positioning accuracy and the data processing efficiency of the electrode sheet model are improved, and the projection line of the electrode point connection line is obtained by projecting the electrode point connection line on the electrode sheet model to the target tissue surface; and the electrode points after deformation are searched on the projection line by taking the exposed electrode points as starting points according to known intervals, so that the deformation process of the electrode plate is efficiently and simply simulated, the positions of the electrode points after deformation are accurately determined, and the accuracy of electroencephalogram monitoring is improved.

Fig. 8 illustrates a physical structure diagram of an electronic device, as shown in fig. 8, which may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform all or part of the electrode pad positioning method steps of the electrode pads provided above.

Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, are capable of performing all or part of the steps of the electrode spot positioning method of the electrode spots provided above.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform all or part of the steps of the electrode pad positioning method of the electrode pads provided above.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electrode point positioning device of an electrode sheet, characterized by comprising: a host configured to:

positioning the electrode slice model to a medical image model according to the position information of the exposed electrode point; wherein the exposed electrode point is an electrode point that is visually visible within the wound area;

2. The electrode pad positioning device according to claim 1, wherein the position information of the exposed electrode pad is obtained by:

or, collecting point cloud data containing the exposed electrode point through a handheld point cloud collector; and determining the position information of the exposed electrode point according to the position of the handheld point cloud collector tracked by the second tracking device and the point cloud data.

3. The electrode pad positioning device of claim 1, wherein the exposed electrode pad comprises at least three non-collinear electrode pads.

4. The electrode pad positioning device according to claim 1, wherein projecting the electrode pad connection line of the electrode pad model onto the target tissue surface to obtain a projection line of the electrode pad connection line comprises:

5. The electrode pad positioning device of claim 4, wherein the projecting the first mesh point cloud to the target tissue surface along a normal vector to the electrode pad model plane comprises:

6. The electrode pad electrode point positioning device according to claim 1, wherein the electrode point connection line on the electrode pad model is obtained by:

or, each electrode point is wired to the nearest neighboring electrode point.

7. The electrode pad positioning device of claim 1, further comprising, prior to said projecting electrode pad wires on said electrode pad model onto a target tissue surface, a projection line of said electrode pad wires:

8. The electrode pad localization apparatus of claim 1, wherein after registering an electrode pad model to a medical image model based on the positional information of the exposed electrode pad, before projecting the electrode pad lines on the electrode pad model to a target tissue surface, a projection line of the electrode pad lines is obtained, further comprising:

9. The electrode point positioning device of an electrode sheet according to any one of claims 1 to 8, wherein the determining, on the projection line, positions of the deformed electrode points at a known interval with the exposed electrode points as a starting point includes:

10. The electrode pad positioning device according to claim 1, wherein projecting the electrode pad connection line of the electrode pad model onto the target tissue surface to obtain a projection line of the electrode pad connection line comprises:

11. A method of positioning an electrode point of an electrode sheet, comprising:

positioning an electrode sheet model to a medical image model according to position information of exposed electrode points, wherein the exposed electrode points are visually visible electrode points in a wound range;

12. An electroencephalogram monitoring navigation system, characterized by comprising:

the positioning probe is used for clicking an exposed electrode point on the electrode plate, or the handheld point cloud collector is used for collecting point cloud data containing the exposed electrode point; wherein the exposed electrode point is an electrode point that is visually visible within the wound area;

13. A non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs all or part of the steps of the electrode spot positioning method of an electrode sheet according to claim 11.