CN114305680A

CN114305680A - Data processing method, device and navigation system for in vivo path planning and navigation

Info

Publication number: CN114305680A
Application number: CN202111467513.XA
Authority: CN
Inventors: 孙晶晶; 杨志明; 霍德荣; 余坤璋; 徐宏
Original assignee: Hangzhou Kunbo Biotechnology Co Ltd
Current assignee: Hangzhou Kunbo Biotechnology Co Ltd
Priority date: 2021-12-02
Filing date: 2021-12-02
Publication date: 2022-04-12

Abstract

The invention provides a data processing method, a device and a navigation system for in vivo path planning and navigation, wherein the data processing method for in vivo path planning comprises the following steps: acquiring a lung virtual model, wherein the lung virtual model comprises a virtual bronchial tree and virtual obstacles; the virtual bronchial tree simulates a real bronchial tree of a real human body; determining a target region in the virtual lung model; planning a first navigation path and a simulated puncture position in the lung virtual model based on the target region and the constraint information of the adjustable bent sheath; the simulated puncture location simulates a real puncture location in a real bronchial tree and is adapted to the target region; the first navigation path refers to: and a navigation path from the simulated puncture position to the target region in the virtual lung model, wherein the first navigation path is a navigation path of the adjustable bent sheath and can avoid the virtual obstacle.

Description

Data processing method, device and navigation system for in vivo path planning and navigation

Technical Field

The invention relates to the field of medical treatment, in particular to a data processing method, a data processing device and a data processing navigation system for in-vivo path planning and navigation.

Background

Bronchoscopes, which are understood to be medical instruments that are placed orally or nasally into the respiratory tract of a patient, can be used to observe processes such as lesions, biopsy samples, bacteriological and cytological examinations.

When the bronchoscope is used, a path can be planned in advance for a moving path of the bronchoscope in a body to obtain a navigation path, however, the planned navigation path only comprises the navigation path of the bronchoscope in an air passage, if a medical attention part is outside the air passage, the air passage needs to be punctured, and a sheath tube passing through a working channel of the bronchoscope needs to be sent to the medical attention part, however, in the prior art, a sufficient basis for positioning and guiding is lacked aiming at the motion process of the puncturing and the sheath tube.

Disclosure of Invention

The invention provides a data processing method, a data processing device and a data processing navigation system for in vivo path planning and navigation, which aim to solve the problem that a sufficient basis for positioning and guiding is lacked in the motion process of puncture and a sheath.

According to a first aspect of the present invention, there is provided a data processing method for intra-body path planning, comprising:

acquiring a lung virtual model of a real human body, wherein the lung virtual model comprises a virtual bronchial tree and a virtual obstacle;

determining a target region in the virtual lung model; the position of the target region in the lung virtual model is matched with the position of a medical attention part in a real human body;

planning a first navigation path and a simulated puncture position in the lung virtual model based on the target region and the constraint information of the adjustable bent sheath;

wherein:

the constraint information of the adjustable bent sheath pipe represents the structural characteristics of the adjustable bent sheath pipe for constraining the movement process of the adjustable bent sheath pipe; the simulated puncture location simulates a real puncture location in the real bronchial tree; the first navigation path refers to: and a navigation path from the simulated puncture position to the target region in the virtual lung model, wherein the first navigation path is a navigation path of the adjustable bent sheath, and the first navigation path can avoid the virtual obstacle.

Optionally, based on the target region and constraint information of the adjustable curved sheath, planning a first navigation path and a simulated puncture position in the virtual lung model, including;

determining a reference location point in the target region;

planning a path capable of avoiding the virtual barrier based on the reference position point to obtain a plurality of candidate paths; the starting point of the candidate path is in the virtual bronchial tree or on the airway wall thereof, and the end point of the candidate path is the reference position point;

selecting the first navigation path from the plurality of candidate paths based on constraint information of the adjustable bent sheath; the simulated puncture location is a connection point of the first navigation path and the airway wall.

Alternatively to this, the first and second parts may,

planning a path capable of avoiding the virtual obstacle based on the reference position point to obtain a plurality of candidate paths, including:

taking the reference position point as a first-level position point, and gradually exploring one or more next-level position points from the first-level position point until the last-level position point in the virtual bronchial tree or on the tracheal wall of the virtual bronchial tree is explored;

searching a target position point near an Nth-level position point after searching any Nth-level position point; the relative position of the target position point and the Nth-level position point meets the requirement of a specified position; the specified location requirements include: the distance between the Nth-level position point and the target position point is a specified distance or is within a specified distance range, and/or: the direction of the target position point relative to the Nth-level position point is within a specified angle range, wherein N is a positive integer greater than or equal to 1;

selecting a target position point which does not conflict with the virtual obstacle as an N + 1-level position point;

and forming a candidate path corresponding to any one last-stage position point based on the connecting line of each-stage position point between the first-stage position point and any one last-stage position point.

Optionally, selecting a target position point which does not conflict with the virtual obstacle as an N + 1-th-level position point, including:

if any searched first target position point does not fall on the virtual obstacle, determining that the any first target position point does not conflict with the virtual obstacle, and selecting the any first target position point as the (N + 1) th-level position point;

and/or if the distance between any searched second target position point and the virtual obstacle is smaller than a distance threshold value, determining that the any second target position point is not in conflict with the virtual obstacle, and selecting the any second target position point as the (N + 1) th-level position point.

Optionally, the virtual obstacle includes at least one of: virtual blood vessels, virtual ribs, virtual pleura.

Optionally, selecting the first navigation path from the multiple candidate paths based on the constraint information of the bendable sheath, including:

determining path reference information of the candidate path, wherein the path reference information of the candidate path comprises the length and the steering angle of the candidate path;

selecting a target candidate path as the first navigation path; wherein the path reference information of the target candidate path is adapted to the constraint information of the adjustable curved sheath.

Optionally, selecting the target candidate route as the first navigation route includes:

acquiring at least part of constraint information of the bronchoscope and a simulated puncture position corresponding to the target candidate path; wherein the at least partial constraint information of the bronchoscope includes: the radial dimension of the portion of the bronchoscope that protrudes into the real bronchial tree,

and under the condition that the radial size of the part of bronchoscope is smaller than the radial size of the obtained trachea part where the simulated puncture position is located, selecting a target candidate path as the first navigation path.

Optionally, the reference location point comprises a center point of the target area.

Optionally, the constraint information of the adjustable bending sheath includes bending capability information of the adjustable bending sheath and length information of the adjustable bending sheath.

Optionally, obtaining a three-dimensional virtual model of the lung includes:

acquiring CT data of the real human body;

and establishing the lung virtual model according to the CT data.

Optionally, the target region is determined based on the virtual lung model and the CT data.

Optionally, the data processing method for planning the internal body path further includes:

planning a second navigation path in the lung virtual model based on the simulated puncture position and the constraint information of the bronchoscope;

wherein the constraint information of the bronchoscope represents the structural characteristics of the bronchoscope which constrain the motion process of the bronchoscope; the second navigation path refers to: a navigation path of the bronchoscope from a first location to a second location of the virtual bronchial tree, and the second location is adapted to the simulated puncture location.

Optionally, based on the simulated puncture location and the constraint information of the bronchoscope, a second navigation path is planned in the virtual lung model, including:

and planning a navigation path from the first position to the second position along a central axis of the airway by taking an airway main carina in the virtual bronchial tree as the first position to obtain a second navigation path, so that path reference information of the second navigation path is adapted to constraint information of the bronchoscope, and the path reference information of the second navigation path comprises the length and the steering angle of the second navigation path and the diameter of a passing trachea.

Optionally, the constraint information of the bronchoscope includes: information of a bending capacity of the bronchoscope, a length of the bronchoscope, a diameter of the bronchoscope.

According to a second aspect of the present invention, there is provided a data processing method for in vivo navigation, comprising:

acquiring a first navigation path planned by a data processing method of in-vivo path planning related to the first aspect and the optional scheme thereof;

displaying the lung virtual model on a display device, and displaying the first navigation path based on the lung virtual model.

Optionally, the data processing method for in vivo navigation further includes:

obtaining a developing result of the adjustable bent sheath under X-ray; the development result can represent the position of the adjustable bent sheath in a real human body;

and displaying the position of the adjustable bent sheath in the real human body in the lung virtual model based on the developing result.

Optionally, the data processing method for in vivo navigation further includes:

acquiring a second navigation path; the second navigation path refers to: a navigation path of a bronchoscope from a first location to a second location within the virtual bronchial tree, the second location adapted to the simulated puncture location;

acquiring an intra-operative image, the intra-operative image being acquired by the bronchoscope;

determining a true position of the bronchoscope based on the intra-operative image;

and displaying the second navigation path and the real position of the bronchoscope based on the lung virtual model.

According to a third aspect of the present invention, there is provided a data processing apparatus for intra-body path planning, comprising:

the model acquisition module is used for acquiring a virtual lung model of a real human body, wherein the virtual lung model comprises a virtual bronchial tree and virtual obstacles;

a target determination module for determining a target region in the virtual lung model; the position of the target region in the virtual lung model is matched with the position of a medical attention part in the real human body;

an airway external planning module for planning a first navigation path and a simulated puncture position in the lung virtual model based on the target region and the constraint information of the adjustable bent sheath tube

Wherein:

According to a fourth aspect of the present invention, there is provided an in vivo navigated data processing apparatus comprising:

a path acquisition module for acquiring a first navigation path planned by the data processing method for in vivo path planning of the first aspect and the alternative thereof;

and the display guide module is used for displaying the lung virtual model on a display device and displaying the first navigation path based on the lung virtual model.

According to a fifth aspect of the present invention, there is provided an electronic device, comprising a processor and a memory,

the memory is used for storing codes;

the processor is configured to execute the codes in the memory to implement the data processing method of the first aspect or the second aspect.

According to a sixth aspect of the present invention, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the data processing method of the first or second aspect.

According to a seventh aspect of the present invention, there is provided a navigation system comprising: the bronchoscope comprises a bronchoscope, an adjustable bent sheath and a data processing part, wherein the data processing part is used for implementing the data processing method in the first aspect or the second aspect, and the bronchoscope is provided with a working channel for the adjustable bent sheath to pass through.

According to the data processing method, device and navigation system for in-vivo path planning and navigation, provided by the invention, after a lung virtual model is obtained and a target region is determined, a first navigation path and a simulated puncture position are planned in the lung virtual model based on the target region and constraint information of an adjustable bent sheath; furthermore, the planned first navigation path and the simulated puncture position can provide a basis for positioning and guiding the movement and puncture of the adjustable bent sheath, which is beneficial to ensuring the reliability and accuracy of the movement and puncture process of the adjustable bent sheath and can also provide a basis for further improving the safety.

Meanwhile, the first navigation path can avoid the virtual barrier, so that the safety of the movement process of the adjustable bent sheath can be improved when the first navigation path is referred for control.

In the alternative scheme of the invention, the first navigation path is adapted to the constraint information of the adjustable bent sheath, so that the first navigation path can be ensured to accurately meet the constraint condition of the adjustable bent sheath, and the planned first navigation path can be effectively executed by the adjustable bent sheath.

Drawings

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

FIG. 1 is a schematic diagram of the construction of a navigation system in an exemplary embodiment of the invention;

FIG. 2 is a schematic view of the construction of a navigation system in another exemplary embodiment of the present invention;

FIG. 3 is a flow chart illustrating a method for data processing for intra-body path planning in an exemplary embodiment of the invention;

FIG. 4 is a schematic flow chart of obtaining a virtual model of a lung in an exemplary embodiment of the invention;

FIG. 5 is a schematic flow chart illustrating planning of a first navigation path and simulating a puncture location in an exemplary embodiment of the invention;

FIG. 6 is a flow chart illustrating candidate path planning in an exemplary embodiment of the invention;

FIG. 7 is a schematic flow chart illustrating planning of a first navigation path and simulation of a puncture location in accordance with another exemplary embodiment of the present invention;

fig. 8 is a flow chart illustrating a data processing method for intra-body path planning in another exemplary embodiment of the present invention;

FIG. 9 is a flow chart illustrating a method of data processing for in vivo navigation in an exemplary embodiment of the invention;

FIG. 10 is a flow chart illustrating a data processing method for in vivo navigation in another exemplary embodiment of the invention;

FIG. 11 is a flow chart illustrating a data processing method for in vivo navigation in a further exemplary embodiment of the invention;

fig. 12 is a schematic diagram of program modules of a data processing device for intra-body path planning in an exemplary embodiment of the invention;

fig. 13 is a schematic diagram of program modules of a data processing device for intra-body path planning in another exemplary embodiment of the invention;

FIG. 14 is a schematic representation of program modules of a data processing device for in vivo navigation in an exemplary embodiment of the invention;

FIG. 15 is a schematic representation of program modules of a data processing device for in vivo navigation in another exemplary embodiment of the invention;

fig. 16 is a schematic configuration diagram of an electronic device in an exemplary embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be 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.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Referring to fig. 1, an embodiment of the present invention provides a navigation system, including: bronchoscope 102, adjustable bending sheath 103 and data processing part 101.

Bronchoscope 102 may include an image capture portion, and bronchoscope 102 may be understood to be a device or combination of devices that are capable of capturing a corresponding image using the image capture portion after entering a trachea of a human. The bronchoscope 102 may further include a bending tube (e.g., an active bending tube and/or a passive bending tube), the image capturing portion may be disposed at one end of the bending tube, and the bronchoscope 102 may have a working channel, through which one or more medical devices may pass, wherein one of the medical devices may be the adjustable bending sheath 103. Furthermore, any bronchoscope may be used without departing from the scope of embodiments of the present invention.

The adjustable bending sheath 103 is any sheath (sheath in which can be understood as a catheter) capable of controlled bending, and the inner cavity of the adjustable bending sheath can be passed by other instruments, so that the adjustable bending sheath is used as a channel, and the other instruments can reach the medical attention part conveniently.

The data processing unit 101 may be understood as any device or combination of devices having data processing capability, and in the embodiment of the present invention, the data processing unit 101 may be configured to implement a data processing method described below, and further, when the data processing unit is applied to a data processing method for implementing in vivo path planning, path planning for an adjustable curved sheath can be implemented.

In one embodiment, the data processing unit 101 may include only one set of data processing devices for implementing both a data processing method for intra-body route planning and a data processing method for intra-body navigation, which will be described later.

In another embodiment, the data processing part 101 may include two sets of data processing devices, which are respectively described as a first data processing device and a second data processing device, wherein the first data processing device may be used for implementing the data processing method for intra-body path planning, which will be described later, and the second data processing device may be used for implementing the data processing method for intra-body navigation, which will be described later.

Referring to fig. 2, the data processing portion 201, the adjustable bending sheath 203 and the bronchoscope 202 in the navigation system shown in fig. 2 are the same as or similar to the data processing portion 101, the adjustable bending sheath 103 and the bronchoscope 102 in the embodiment shown in fig. 1, and the same or similar contents are not repeated herein.

In the embodiment shown in fig. 2, when the data processing unit 201 is applied to a data processing method for planning an internal body path, the path planning for the adjustable curved sheath 203 and the path planning for the bronchoscope 202 can be realized.

In the embodiment shown in fig. 2, the data processing portion 201 and the bronchoscope 202 are configured to be capable of communicating with each other, for example, directly or indirectly electrically connected (specifically, electrically connected to the image acquisition portion in the bronchoscope 202), and for example, wirelessly communicating, and further, the data processing portion 201 may receive the intraoperative image from the bronchoscope 202.

The intraoperative images referred to herein refer to: after the bronchoscope 202 enters the real human body (for example, enters the real bronchial tree of the real human body), the image acquiring portion of the bronchoscope 202 acquires the image.

In the embodiment shown in fig. 2, the navigation system further comprises a display device 204.

The display device 204 may be any device capable of two-dimensional imaging or three-dimensional imaging. The content displayed by the display device 204 may be determined by the data processing portion 201, and further, the display device 204 and the data processing portion 201 may be configured to be capable of communicating with each other to be displayed externally under the control of the data processing portion 201. The display device 204 may be controlled to display corresponding content (for example, a virtual bronchial tree, a virtual obstacle, a position of a bronchoscope, and a position of an adjustable sheath) when the data processing unit 201 executes the data processing method of in vivo navigation.

The display device 204 may include at least one of: display screens (e.g., LED display screens, LCD display screens), projection screens, AR devices, VR devices, and the like.

In the embodiment shown in fig. 2, the navigation system further comprises a visualization device 205.

The developing device 205 can be any device capable of developing the adjustable bent sheath. The developing device 205 may be a device capable of developing the bendable sheath by X-ray, for example, the developing device 205 may be a C-arm (also described as a C-arm machine, a C-arm), a U-arm, a G-arm, etc., wherein the C-arm may include a bulb tube for generating X-ray, and a collecting device for collecting an image after X-ray irradiation and development, and the collecting device may include an image intensifier and a CCD unit connected to each other, for example, wherein the CCD is specifically referred to as a charge coupled device, that is, a common photosensitive device. In addition, the developing device 205 may be directly or indirectly electrically connected to the data processing portion 201, so as to directly or indirectly transmit the acquired image to the data processing portion 201 for processing by the data processing portion 201 (for example, to position the adjustable curved sheath, and further, for example, to determine whether the adjustable curved sheath reaches the lesion or the diagnosis site). No matter what developing device 205 is employed, the scope of the description of the present embodiment is not deviated.

In order to realize the development of the adjustable bent sheath under the X-ray, the material of the adjustable bent sheath can be selected from the materials suitable for the development under the X-ray, and compared with the extension tube which cannot be developed under the X-ray in part of the prior art, the embodiment of the invention can provide sufficient and accurate reference basis for the positioning and the use of the adjustable bent sheath.

In the embodiment shown in fig. 3, a data processing method for intra-body path planning is provided, which is applicable to a data processing unit and includes:

s301: acquiring a lung virtual model;

the lung virtual model can be understood as a model for simulating the lung structure of a real human body, and the lung virtual model at least comprises a virtual bronchial tree; furthermore, the virtual bronchial tree can simulate the real bronchial tree of a real human body, so that the structure of the trachea in the lung part is embodied, and a reliable medium is provided for planning a path (such as a first navigation path) and a simulated puncture position in the subsequent steps;

the lung virtual model can be specially formed for the patient currently undergoing the operation (namely, the lung virtual models of different patients can be different), and the lung virtual model can also adopt the lung virtual model which is universally suitable for a plurality of patients;

in order to improve safety, when planning the first navigation path, avoidance of various obstacles (such as blood vessels, ribs, pleura, etc.) in the human body can be further considered. Therefore, the lung virtual model also comprises virtual obstacles which simulate other partial structures except the bronchial tree in the lung of the human body; for example, the virtual obstacle may include at least one of:

a virtual vessel that simulates a vessel;

simulating a virtual rib of a rib;

a virtual pleura simulating the pleura.

In addition, various structures of the chest in the real human body other than the bronchial tree can be used as an obstacle, and furthermore, a virtual object formed by simulating the structures in the lung virtual model can be used as a virtual obstacle without being limited to the above examples.

S302: determining a target region in the virtual lung model;

the target region refers to a region of the lung virtual model, which characterizes a medical attention region, that is: the position of the target region in the lung virtual model is matched with the position of the medical attention part in the real human body; it can be a certain point in the virtual space where the lung virtual model is located, or a certain two-dimensional or three-dimensional space range in the virtual space; the target region can also be characterized as ROI, in particular to region of interest, namely a region of interest;

the target region may be determined manually, for example, after a physician observes patient data (e.g., CT data), the target region may be manually selected in the virtual lung model; the target area may also be determined in an automatic manner, for example: the data processing part can automatically determine a target area in the virtual space according to the patient data (such as CT data); the target area may also be determined semi-automatically and semi-manually, for example: the data processing part can automatically determine a candidate range in the virtual space according to the patient data (such as CT data), and then a doctor determines a target area from the candidate range;

the medical focus site can be, for example, a lesion or a diagnosis site, such as a suspected peripheral cancer nodule, central lymph node, infiltration or other suspected breast lump;

s303: planning a first navigation path and a simulated puncture position in the lung virtual model based on the target region and the constraint information of the adjustable bent sheath;

the constraint information of the adjustable bent sheath represents the structural characteristics of the adjustable bent sheath for constraining the movement process of the adjustable bent sheath; furthermore, the structural characteristics of the adjustable bent sheath tube, which bring about the constraint effect on the motion process of the adjustable bent sheath tube, can be used as constraint information of the adjustable bent sheath tube.

The constraint information of the adjustable curved sheath may for example comprise at least one of: the bending capacity information of the adjustable bending sheath and the length information of the adjustable bending sheath; in addition to these examples, the constraint information of the adjustable bending sheath may further include the radial size, material, etc. of the adjustable bending sheath.

The bending capability information of the adjustable bending sheath tube may be any information capable of describing the bending capability of a part or all of the tube segments of the adjustable bending sheath tube, and may include parameters such as a minimum bending radius and a maximum bending degree of each tube segment in the adjustable bending sheath tube, and meanwhile, the maximum bending degree of each tube segment in the adjustable bending sheath tube may be the same or different.

The radial dimension of the adjustable bending sheath tube may be any information capable of describing the radial dimension of a part or all of the tube segments in the adjustable bending sheath tube, for example, the circumferential length and the diameter of each tube segment in the adjustable bending sheath tube.

The simulated puncture position is understood to be a position of the tracheal wall of the virtual bronchial tree in the virtual lung model, which simulates: the real bronchial tree is suitable for a real puncture position to be punctured, and then the adjustable bent sheath tube can reach a medical attention part after passing through the real puncture position.

The simulated puncture location may also be characterized as a POI point, where POI refers to: point of Interest; PI points are the interest points;

simulating a puncture location to fit into the target area; this adaptation can be understood as: based on the virtual lung model (i.e. the real lung structure represented by the virtual lung model), if the adjustable bent sheath reaches the real puncture position simulated by the simulated puncture position, the adjustable bent sheath can reach the medical attention part simulated by the target region through further movement; the adaptation can also be understood simply as a proximity, for example: simulating that the distance between the puncture position and the target area is smaller than a corresponding threshold value;

wherein the first navigation path refers to: and a navigation path from the simulated puncture position to the adjustable bent sheath in the target region in the lung virtual model. The first navigation path may be planned in consideration of various planning requirements, and the planning requirements of the first navigation path may include, for example: therefore, in the step S303, the first navigation path needs to be planned by the constraint information of the adjustable curved sheath; in addition, the planning requirement of the first navigation path may further include at least one of the following: the requirement of avoiding other obstacles in the lung virtual model (namely, the first navigation path can avoid the virtual obstacles), the requirement of making the path travel as short as possible, the requirement of ensuring that the bronchoscope can enter the corresponding trachea and the like.

As can be seen, in the embodiment shown in fig. 3, after the virtual lung model is obtained and the target region is determined, based on the target region and the constraint information of the adjustable bent sheath, a first navigation path and a simulated puncture position can be planned in the virtual lung model; furthermore, the planned first navigation path and the simulated puncture position can provide a basis for positioning and guiding the movement and puncture of the adjustable bent sheath, which is beneficial to ensuring the reliability and accuracy of the movement and puncture process of the adjustable bent sheath and can also provide a basis for further improving the safety.

In one embodiment, if the virtual lung model is specifically formed for each patient, the virtual lung model may be formed based on the CT data of the patient. Therefore, referring to fig. 4, the process of obtaining the virtual lung model may include:

s401: acquiring CT data of the real human body;

the CT data may be any data obtained by scanning a real body of a patient by a CT technique, wherein the CT is Computed Tomography. The CT data may include CT images including at least one of: sagittal, coronal, and transverse views;

s402: and establishing the lung virtual model according to the CT data.

The target region may be determined based on the virtual lung model and the CT data of the patient, and further, it may be determined automatically, semi-automatically, or manually based on the virtual lung model and the CT data of the patient.

Therefore, in the embodiment shown in fig. 4, the virtual lung model can accurately embody the real lung structure of the patient, so that the result of the path planning (e.g., the endotracheal navigation path and the extratracheal navigation path) can be accurately adapted to the real lung structure of the patient, and the accuracy of the navigation is ensured.

In one embodiment, referring to fig. 5, the selecting the first navigation path from the multiple candidate paths based on the constraint information of the adjustable curved sheath, and determining the simulated puncture location based on the connection point of the first navigation path and the airway may include:

s501: determining a reference location point in the target region;

the reference location point may be understood as a location point in the target region in the virtual space where the lung virtual model is located, for example: the reference location point may comprise a center point of the target area, for example again: the coordinates of the reference position point can also be the average value of the coordinates of a plurality of position points in the target area;

s502: planning a path capable of avoiding the virtual barrier based on the reference position point to obtain a plurality of candidate paths;

a candidate path, which may be understood as a navigation path that is planned in a virtual space in which a lung virtual model is located and ends at a reference position point (or other position points adjacent to the reference position point), and can avoid a virtual obstacle, wherein the starting point of the candidate path is within the virtual bronchial tree or on an airway wall of the virtual bronchial tree, and the ending point of the candidate path is the reference position point; the starting point of the candidate path may be, for example, a position point in the virtual bronchial tree axis, and the distance between the starting point of the candidate path and the reference position point may be smaller than a preset certain threshold;

s503: selecting the first navigation path from the plurality of candidate paths based on constraint information of the adjustable bent sheath;

correspondingly, the simulated puncture location is adapted to a connection point of the first navigation path and the airway wall;

in one example, after the first navigation path is selected in step S503, the simulated puncturing position may be determined based on a connection point of the first navigation path and the airway wall;

in another example, a candidate simulated puncture position may be determined first, then a candidate path is planned based on the candidate simulated puncture position and the reference position point in step S502, and then the first navigation path is selected in step S503; then, a candidate simulated puncture position is determined again, step S502 and step S503 are executed to select the first navigation path, after the process is repeated for a plurality of times, a plurality of first navigation paths can be determined, and then one first navigation path can be selected from the first navigation paths as a final first navigation path.

The simulated puncture location may be a location of a connection point of the first navigation path and the airway in the virtual bronchial tree, or one or more locations determined based on the location of the connection point.

In the embodiment shown in fig. 5, the candidate paths meeting the requirements of the start point and the end point are selected first, and the first navigation path is selected from the candidate paths, so that the start point and the end point of the selected first navigation path can meet the motion requirements of the bendable sheath, and the form of the first navigation path can be suitable for meeting the structural characteristics of the bendable sheath, thereby ensuring the feasibility of the first navigation path and the simulated puncture position.

In one embodiment, referring to fig. 6, planning a path that can avoid the virtual obstacle based on the reference position point to obtain a plurality of candidate paths includes:

s601: taking the reference position point as a first-level position point, and gradually exploring one or more next-level position points from the first-level position point until the last-level position point in the virtual bronchial tree or on the tracheal wall of the virtual bronchial tree is explored;

s602: and forming a candidate path corresponding to any one last-stage position point based on the connecting line of each-stage position point between the first-stage position point and any one last-stage position point.

In step S601, after searching for any nth-level location point, searching for a target location point near the nth-level location point; the relative position of the target position point and the Nth-level position point meets the requirement of a specified position;

the specified location requirements include: the distance between the Nth-level position point and the target position point is a specified distance or is within a specified distance range, and/or: the direction of the target position point relative to the Nth-level position point is within a specified angle range;

the specified angle range is an angle range in a three-dimensional space, and can be further regarded as a conical space range which is formed by enclosing a circle of rays with the Nth-level position point as an origin;

in one example, the specified angular range may be fixed.

In another example, the specified angular range may also vary;

for example: starting from the second-level position point, the orientation of the designated angle range (i.e., the orientation of the above-mentioned spatial range of the cone shape) may vary with the searched position point, for example, the designated angle range of the nth-level position point may represent the spatial range of the cone shape opposite to the reference position point (or the previous-level position point), for example, if the reference position point (or the previous-level position point) is on the right side of the nth-level position point, the target position point may be searched for in the designated angle range on the left side of the nth-level position point; for another example, if the reference position point (or the previous position point) is on the upper right side of the nth position point, the target position point can be searched in the specified angle range on the lower left side of the nth position point; specifically, a circle of ray surrounding an extension line of a connecting line of the nth-order position point and the reference position point (or the previous-order position point) can be constructed to form a conical space range by taking the extension line as an axis, so that the specified angle range is embodied;

wherein, N is more than or equal to 1, namely a positive integer more than or equal to 1, and the Nth-level position point is not the last-level position point.

For the searched target position point, selecting a target position point which does not conflict with the virtual obstacle as an N + 1-th-level position point;

the collision between the position point and the virtual obstacle can be understood as: if the position point is taken as a position point in the navigation path, the following will be caused: the adjustable bent sheath causes damage to the structure simulated by the virtual obstacle or brings damage risk.

In order to achieve collision detection, in one embodiment, if it is found that any first target position point does not fall within the virtual obstacle, it is determined that the first position point collides with the virtual obstacle, and the any first target position point is selected as the N + 1-th-level position point; furthermore, since the first position point collides with the virtual obstacle, the first position point cannot be used as the (N + 1) -th position point, and the (N + 1) -th position point can be excluded when searching for the (N + 1) -th position point.

Wherein, the first target position point falling on the virtual obstacle can be understood as: the first target location point is at or within a range of positions encompassed by an outer surface of the virtual obstacle. Conversely, if the first target location point does not fall on the virtual obstacle, it can be understood as: the first target location point does not fall on the outer surface of the virtual obstacle nor within the range of locations encompassed by the outer surface.

In another embodiment, in order to achieve collision detection, if the distance between any second target position point and the virtual obstacle is not smaller than a distance threshold, it is determined that the second position point does not collide with the virtual obstacle, and the any second target position point is selected as the N +1 th-level position point. Furthermore, since the second position point collides with the virtual obstacle, the second position point cannot be used as the (N + 1) -th position point, and the (N + 1) -th position point can be excluded when searching for the (N + 1) -th position point.

The distance between the second target location point and the virtual obstacle may be a minimum distance between the second target location point and an outer surface of the virtual obstacle, or a distance between the second target location point and a designated portion (e.g., a center and an axis of the virtual obstacle) in the virtual obstacle.

The design of the distance threshold may be designed with reference to the diameter of the adjustable curved sheath, the position change and the form change of the blood vessels, ribs, pleura, etc. simulated by the virtual obstacle in the physiological activity, the type of the virtual obstacle (for example, the virtual blood vessels, the virtual ribs, the virtual pleura belong to different types of virtual obstacles), and the requirement of avoiding the injury risk, and no matter what distance threshold is selected, the scope of the embodiment of the present invention is not deviated.

In addition, if a position point is determined to collide with a virtual obstacle, it may also be marked, and when a next-stage position point is searched later, it may be searched directly among the unmarked position points.

In an embodiment of step S602, the connection line may be directly used as the candidate path, in another embodiment, the candidate path may also be fit based on the connection line, and in still another embodiment, the connection line (or a curve fit based on the connection line) may also be used as the axis, and a channel with a certain radial size may be formed as the candidate path, where the radial size may be designed with reference to the diameter of the adjustable curved sheath.

In the solutions of steps S601 and S602, the position points in the space can be sufficiently searched, a feasible navigation path can be sufficiently excavated, and the navigation path can be effectively prevented from colliding with the virtual obstacle, thereby ensuring the security.

In one example of steps S601 and S602, a target location point satisfying the above requirements may be searched near a reference location point (i.e., a first-level location point), and then a second-level location point is determined among the target location points; then, for each second-level location point, a target location point meeting the above requirements can be searched in the vicinity of the second-level location point, and a third-level location point is determined from the target location point, at this time, if the third-level location point cannot be searched for a certain second-level location point, the second-level location point can be discarded, the third-level location point is continuously searched for only other second-level location points, and the process is repeated in this order until a location point located in the virtual bronchial tree or on the tracheal wall thereof is searched for, at this time, the location point can be used as the last-level location point, and the search for the next-level location point is stopped.

It can be seen that, for each last-stage position point, a unique path (i.e., a connecting line) connecting the first-stage position point to the last-stage position point in a stepwise manner can be found, and based on this, a candidate path can be determined.

In addition to the above-described manners, any path planning manner in the field and related fields may be applied to realize the planning of the above candidate paths and the avoidance of the virtual obstacle, and no matter which manner is adopted, the scope of the embodiment of the present invention is not deviated.

In an embodiment, referring to fig. 7, the selecting the first navigation path from the plurality of candidate paths based on the constraint information of the bendable sheath includes:

s701: determining path reference information of the candidate path;

the path reference information of the candidate path comprises the length and the steering angle of the candidate path; the turning angle may refer to a set of turning angles of each path segment in the candidate path, or may refer to a turning angle of the whole candidate path, where the turning angle may be, for example, an angle deviation between a tangential direction at a start point and a tangential direction at an end point of the corresponding path segment or the candidate path; each of which may be a single arc path segment;

s702: selecting a target candidate path as the first navigation path;

wherein the target candidate path is derived from a plurality of candidate paths, and the path reference information of the target candidate path is adapted to the constraint information of the adjustable curved sheath, such as:

the length of the first navigation path can ensure that the tail end (or a designated part or a consumable used in cooperation with the adjustable bent sheath) of the adjustable bent sheath can be controlled to reach a medical attention part simulated in a target area, and the situation that the extendable part of the adjustable bent sheath still cannot reach the medical attention part after extending out of the bronchoscope is avoided;

the steering angle of the first navigation path can ensure that: the bending capability of the adjustable bending sheath can realize the bending degree reflected by the steering angle of the first navigation path.

As can be seen, in the embodiment shown in fig. 7, since the first navigation path is adapted to the constraint information of the adjustable curved sheath, the first navigation path can be ensured to accurately satisfy the constraint of the adjustable curved sheath, so that the planned first navigation path can be ensured to be effectively executed by the adjustable curved sheath.

In addition, when the first navigation path is planned, whether the bronchoscope can reach the trachea part where the real puncture position simulated by the simulated puncture position is located is further considered, and the first navigation path and the simulated puncture position are determined by combining at least part of constraint information of the bronchoscope;

furthermore, in one embodiment, the specific process of step S702 may include:

acquiring at least part of constraint information of the bronchoscope and a simulated puncture position corresponding to the target candidate path; wherein at least part of the constraint information of the bronchoscope comprises the radial size of a part of the bronchoscope extending into the real bronchial tree;

It can be seen that the simulated puncture location satisfies: the radial dimension of the portion of the bronchoscope is smaller than the radial dimension of the portion of the trachea where the simulated puncture location is located. It can also be understood that: the radial dimension of the partial bronchoscope is smaller than the radial dimension of the real trachea part simulated by the trachea part where the simulated puncture position is located.

The radial dimension of a portion of the bronchoscope may be, for example, the diameter or circumference of various portions of the portion of the bronchoscope; the radial dimension of the trachea where the simulated puncture site is located may, for example, correspond to the inner wall diameter or inner wall circumference of the trachea.

In the above scheme, when the navigation path of the adjustable bent sheath tube is planned, the bronchoscope can be ensured to reach the position near the planned position, and the feasibility of the first navigation path is ensured.

In one embodiment, referring to fig. 8, the execution processes of steps S801, S802, and S803 are the same as or similar to those of steps S301, S302, and S303 in the embodiment shown in fig. 3, and the same or similar contents are not repeated herein. On this basis, the navigation path (i.e., the second navigation path) of the bronchoscope may also be planned, and in the embodiment shown in fig. 8, the data processing method for planning the internal body path further includes:

s804: planning a second navigation path in the lung virtual model based on the simulated puncture position and the constraint information of the bronchoscope;

wherein the constraint information of the bronchoscope represents the structural characteristics of the bronchoscope which constrain the motion process of the bronchoscope; furthermore, the structural characteristics which bring about the constraint action to the moving process of the bronchoscope can be used as constraint information of the bronchoscope.

The constraint information of the bronchoscope may for example comprise at least one of: information on the bending capacity of the bronchoscope, the length of the bronchoscope, and the radial size of the bronchoscope; the radial dimension of the bronchoscope may refer to the radial dimension (e.g. at least one of circumference, diameter, etc.) of the portion of the bronchoscope that is intended to extend into the real bronchial tree.

The second navigation path refers to: the navigation path of the bronchoscope from the first position to the second position of the virtual bronchial tree, and the second position is adapted to the simulated puncture position, the second position may refer to a position adjacent to the simulated puncture position, for example, the distance between the second position and the simulated puncture position is smaller than a corresponding threshold value, wherein the first position may be any position in the virtual bronchial tree, and the first position may be understood as a starting position for navigating the bronchoscope, for example, a position of a main carina of an airway in the virtual bronchial tree.

In one embodiment, the specific process of step S804 may include:

and planning a navigation path from the first position to the second position along a central axis of the airway by taking the main carina of the airway in the virtual bronchial tree as the first position to obtain the second navigation path, so that the path reference information of the second navigation path is adapted to the constraint information of the bronchoscope.

The path reference information of the second navigation path comprises the length, the steering angle and the diameter of the passing trachea of the second navigation path. The steering angle may refer to a set of steering angles of each path segment in the second navigation path, where the steering angle may be, for example, an angle deviation between a tangential direction at a starting point and a tangential direction at an ending point of the corresponding path segment; each of which may be a single arc of path segments.

The adaptation of the path reference information of the second navigation path to the constraint information of the bronchoscope may for example:

the length of the second navigation path can ensure that the tail end (or the designated part) of the bronchoscope can be controlled to reach the position in the real bronchial tree simulated by the second position, so that the situation that the bronchoscope cannot be in place after entering the bronchial tree is avoided;

the steering angle of the second navigation path can ensure that: the bending capability of the bronchoscope can realize the bending degree reflected by the steering angle of the second navigation path;

the diameter of the trachea through which the second navigation path passes can ensure that: the bronchoscope can successfully pass through the corresponding trachea in the real bronchial tree.

As can be seen, in the embodiment shown in fig. 8, since the second navigation path is adapted to the constraint information of the bronchoscope, it can be ensured that the second navigation path can accurately meet the constraint of the bronchoscope, so that the planned second navigation path can be effectively executed after the bronchoscope moves.

Referring to fig. 9, based on a navigation path (for example, a first navigation path or a second navigation path) planned by the data processing method for in-vivo path planning, an embodiment of the present invention further provides a data processing method for in-vivo navigation, including:

s901: acquiring a first navigation path planned by a data processing method for in-vivo path planning;

s902: displaying the lung virtual model on a display device, and displaying the first navigation path based on the lung virtual model.

In the virtual lung model displayed by the display device, the first navigation path may be displayed in the virtual lung model, and for example, a color, a line width, and a line type may be specified to draw a line of the first navigation path in the virtual lung model. It can be seen that in the embodiment shown in fig. 9, through the display of the first navigation path, reliable reference and guidance can be provided for the operation of the adjustable curved sheath.

In addition, a sagittal view, a coronal view, a transverse view, etc. of the CT image in the CT data may be displayed on the display device.

In one embodiment, referring to fig. 10, the data processing method for in-vivo navigation further includes:

s1001: obtaining a developing result of the adjustable bent sheath under X-ray;

the development result can represent the position of the adjustable bent sheath in the real human body; the development result can be, for example, a developed image acquired after a developing device (e.g., a C-arm) irradiates a human body with X-rays; the development result may also be, for example, information extracted from the developed image;

s1002: displaying the position of the adjustable bent sheath in the real human body in the lung virtual model based on the developing result;

for example, the position of the adjustable curved sheath in the real human body can be displayed in the virtual lung model in the form of a point, a line or an adjustable curved sheath model.

In the embodiment shown in fig. 10, by displaying the position of the adjustable bending sheath on the real human body, the relevant person can be assisted to judge at least one of the following: whether the adjustable bent sheath tube reaches the medical attention part or not; whether the adjustable bent sheath tube moves along the first navigation track or not can also assist related personnel to accurately learn which position the adjustable bent sheath tube reaches. Furthermore, the adjustable bent sheath can be controlled to move along the planned first navigation path, and therefore the adjustable bent sheath can be accurately positioned.

In one embodiment, referring to fig. 11, the data processing method for in-vivo navigation further includes:

s1101: acquiring a second navigation path;

the second navigation path refers to: a navigation path of a bronchoscope from a first location to a second location within the virtual bronchial tree, the second location adapted to the simulated puncture location; moreover, the second navigation path in step S1101 may be the second navigation path mentioned in the embodiment shown in fig. 8, and the planning process, the function, and the like of the second navigation path can be understood with reference to the description in the embodiment shown in fig. 8;

s1102: acquiring an intraoperative image;

the intraoperative image is acquired by the bronchoscope, and may be acquired by an image acquisition portion of the bronchoscope, for example. Moreover, the intraoperative image mentioned in step S1102 may be the intraoperative image mentioned in the embodiment shown in fig. 2, and the acquisition process, the action and the like thereof can be understood with reference to the description in the embodiment shown in fig. 2;

steps S1102, S1103 and S1104 may be performed after the bronchoscope has entered the human body, and may also be understood as follows: steps S1102, S1103 and S1104 may be performed after the relevant person starts performing the corresponding surgery using the bronchoscope;

s1103: determining a position of the bronchoscope in a real human body based on the intra-operative image;

the process of step S1103 can be implemented by referring to any existing or modified scheme in the art; for example, a virtual slice image of a virtual bronchoscope may be acquired, and then the position of the bronchoscope on the real human body may be determined based on the matching result of the virtual slice image and the intra-operative image;

s1104: and displaying the second navigation path and the real position of the bronchoscope based on the lung virtual model.

For example, the position of the bronchoscope on the real human body can be displayed in the lung virtual model in the form of a point, a line or a bronchoscope model, and a color, a line width or a line type can be assigned to draw a line of the second navigation path in the lung virtual model.

It can be seen that in the embodiment shown in fig. 11, by displaying the position of the bronchoscope on the real human body and the second navigation path, the relevant person can be assisted in determining at least one of the following: whether the bronchoscope reaches the end position of the second navigation path (i.e., the real position simulated by the second position); whether the bronchoscope is moving along the second navigation path may also assist the relevant person in knowing exactly where the bronchoscope is. Furthermore, the bronchoscope can be controlled to move along the second planned navigation path, and therefore the bronchoscope is guaranteed to be accurate in position.

In an exemplary scenario combining the embodiments shown in fig. 9, 10 and 11, the virtual lung model, the planned navigation paths (e.g., the first navigation path, the second navigation path) and the CT data (e.g., various CT images) can be displayed on a display device, the bronchoscope is guided to the vicinity of the puncture point (i.e., the real puncture location) in real time, the flexible sheath tube is then guided out of the airway through the working channel of the bronchoscope, the flexible sheath tube reaches the lesion (or the diagnosis location) according to the second navigation path, and finally, the visualization device (e.g., the C-arm) is used to verify whether the lesion (or the diagnosis location) is accurately reached or not in real time, and if the flexible sheath tube deviates.

Referring to fig. 12, an embodiment of the present invention further provides a data processing apparatus 1200 for intra-body path planning, including:

a model obtaining module 1201, configured to obtain a virtual lung model, where the virtual lung model includes a virtual bronchial tree and a virtual obstacle;

a target determination module 1202 for determining a target region in the virtual lung model;

a first planning module 1203, configured to plan a first navigation path and a simulated puncture position in the virtual lung model based on the target region and constraint information of the bendable sheath;

wherein:

the constraint information of the adjustable bent sheath pipe represents the structural characteristics of the adjustable bent sheath pipe for constraining the movement process of the adjustable bent sheath pipe; the simulated puncture location is adapted to the target area; the first navigation path refers to: and in the lung virtual model, a navigation path from the simulated puncture position to the adjustable bent sheath in the target region is provided, and the first navigation path can avoid the virtual obstacle.

Optionally, the first planning module 1203 is specifically configured to:

determining a reference location point in the target region;

selecting the first navigation path from the plurality of candidate paths based on constraint information of the adjustable bent sheath; the simulated puncture position is a connection point of the first navigation path and the airway wall, and is determined.

Optionally, the first planning module 1203 is specifically configured to:

searching target position points near the Nth-level position point after searching any Nth-level position point, and taking each searched target position point as a corresponding (N + 1) -th-level position point; the relative position of the target position point and the Nth-level position point meets the requirement of a specified position; the specified location requirements include: the distance between the Nth-level position point and the target position point is a specified distance or is within a specified distance range, and/or: the direction of the target position point relative to the Nth-level position point is within a specified angle range, wherein N is a positive integer greater than or equal to 1;

Optionally, the first planning module 1203 is specifically configured to:

and/or if the distance between any searched second target position point and the virtual obstacle is not smaller than a distance threshold value, determining that the any second target position point is not in conflict with the virtual obstacle, and selecting the any second target position point as the (N + 1) th-level position point.

Optionally, the first planning module 1203 is specifically configured to:

and selecting a target candidate path as the first navigation path, wherein the path reference information of the target candidate path is adapted to the constraint information of the adjustable bent sheath.

Optionally, the first planning module 1203 is specifically configured to:

acquiring at least part of constraint information of the bronchoscope and a simulated puncture position corresponding to the target candidate path; wherein the at least partial constraint information of the bronchoscope includes: a radial dimension of a portion of the bronchoscope that extends into the real bronchial tree;

Optionally, the model obtaining module 1201 is specifically configured to:

acquiring CT data of a patient;

and establishing the lung virtual model according to the CT data.

Optionally, the target region is determined based on the virtual lung model and CT data of the patient.

Optionally, the CT data includes a CT image, the CT image including at least one of: sagittal, coronal, and transverse views.

In the embodiment shown in fig. 13, the model obtaining module 1301 is the same as or similar to the model obtaining module 1201 in the embodiment shown in fig. 12, the target determining module 1302 is the same as or similar to the target determining module 1202 in the embodiment shown in fig. 12, and the first planning module 1303 is the same as or similar to the first planning module 1203 in the embodiment shown in fig. 12, so that the same or similar contents are not repeated herein.

In the embodiment shown in fig. 13, the data processing apparatus 1300 for intra-body path planning further includes:

a second planning module 1304, configured to plan a second navigation path in the virtual lung model based on the simulated puncture location and the constraint information of the bronchoscope;

Optionally, the second planning module 1304 is specifically configured to:

Optionally, the constraint information of the bronchoscope includes: information of a bending capacity of the bronchoscope, a length of the bronchoscope, a radial dimension of the bronchoscope.

Technical terms, technical means and technical effects in the embodiments shown in fig. 12 and 13 can be understood with reference to the embodiments shown in fig. 1 to 8, and are not described herein again.

Referring to fig. 14, an embodiment of the present invention further provides an in-vivo navigation data processing apparatus 1400, including:

a first path obtaining module 1401, configured to obtain a first navigation path planned by a data processing method for in vivo path planning;

a display guidance module 1402, configured to display the virtual lung model on a display device and display the first navigation path based on the virtual lung model.

In the embodiment shown in fig. 15, the first path obtaining module 1501 therein is the same as or similar to the first path obtaining module 1401 in the embodiment shown in fig. 14, and part of the functions of the display guidance module 1502 are the same as or similar to the display guidance module 1502 in the embodiment shown in fig. 14, and therefore, the same or similar contents are not repeated herein.

In the embodiment shown in fig. 15, the data processing apparatus 1500 for in vivo navigation further includes:

a developing result obtaining module 1503, configured to obtain a developing result of the adjustable curved sheath under X-ray; the development result can represent the position of the adjustable bent sheath in a real human body;

the display guidance module 1502 is further configured to: and displaying the position of the adjustable bent sheath in the real human body in the lung virtual model based on the developing result.

a second path obtaining module 1506, configured to obtain a second navigation path; the second navigation path refers to: a navigation path of a bronchoscope from a first location to a second location within the virtual bronchial tree, the second location adapted to the simulated puncture location;

an intra-operative image acquisition module 1505 for acquiring intra-operative images acquired by the bronchoscope;

a bronchoscope positioning module 1504 for determining the location of the bronchoscope on the real human body based on the intra-operative image;

the display guidance module 1502 is further configured to display the second navigation path and the position of the bronchoscope on the real human body based on the virtual lung model.

Technical terms, technical means and technical effects in the embodiments shown in fig. 14 and 15 can be understood with reference to the embodiments shown in fig. 10 to 11, and are not described herein again.

Referring to fig. 16, an embodiment of the invention further provides an electronic device 1600, including:

a processor 1601; and the number of the first and second groups,

a memory 1602 for storing executable instructions for the processor;

wherein the processor 1601 is configured to perform the above-referenced method via execution of the executable instructions.

The processor 1601 is capable of communicating with the memory 1602 via a bus 1603.

Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned method.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of data processing for intra-body path planning, comprising:

determining a target region in the virtual lung model; the position of the target region in the virtual lung model is matched with the position of a medical attention part in the real human body;

wherein:

2. The data processing method for intrabody path planning according to claim 1,

planning a first navigation path and a simulated puncture position in the lung virtual model based on the target region and the constraint information of the adjustable bent sheath, wherein the first navigation path and the simulated puncture position comprise;

determining a reference location point in the target region;

3. The data processing method of intra-body path planning according to claim 2,

after searching any Nth-level position point, searching a target position point in the vicinity of the Nth-level position point, wherein the relative position of the target position point and the Nth-level position point meets a specified position requirement, and the specified position requirement comprises: the distance between the Nth-level position point and the target position point is a specified distance or is within a specified distance range, and/or: the direction of the target position point relative to the Nth-level position point is within a specified angle range, wherein N is a positive integer greater than or equal to 1;

4. The data processing method for intra-body path planning according to claim 3, wherein selecting a target position point that does not collide with the virtual obstacle as an N + 1-th-order position point includes:

5. The data processing method of intra-body path planning according to claim 2,

selecting the first navigation path from the plurality of candidate paths based on constraint information of the bendable sheath, including:

6. The data processing method of intra-body path planning according to claim 5,

selecting a target candidate path as the first navigation path, including:

7. The data processing method for intrabody path planning according to any one of claims 2 to 6, wherein the reference location point includes a center point of the target region.

8. The data processing method of intra-body path planning according to any one of claims 1 to 6, wherein the virtual obstacle comprises at least one of: virtual blood vessels, virtual ribs, virtual pleura.

9. The data processing method for intra-body path planning according to any one of claims 1 to 6, wherein the constraint information of the adjustable bending sheath includes bending capability information of the adjustable bending sheath and length information of the adjustable bending sheath.

10. The data processing method for intrabody path planning according to any one of claims 1 to 6, further comprising:

11. The data processing method for intrabody path planning according to claim 10,

planning a second navigation path in the virtual lung model based on the simulated puncture position and the constraint information of the bronchoscope, including:

12. The data processing method for intra-body path planning according to claim 10, wherein the constraint information of the bronchoscope includes: information of a bending capacity of the bronchoscope, a length of the bronchoscope, a radial dimension of the bronchoscope.

13. A method of data processing for in vivo navigation, comprising:

obtaining a first navigation path planned by a data processing method of an in vivo path planning as claimed in any one of claims 1 to 9;

14. The data processing method for in vivo navigation according to claim 13, further comprising:

15. The data processing method for in vivo navigation according to claim 13, further comprising:

acquiring a second navigation path; the second navigation path comprises a navigation path of a bronchoscope from a first location to a second location within the virtual bronchial tree, and the second location is adapted to the simulated puncture location;

determining a position of the bronchoscope in a real human body based on the intra-operative image;

and displaying the second navigation path and the position of the bronchoscope in the real human body based on the lung virtual model.

16. A data processing apparatus for intra-body path planning, comprising:

a first planning module, configured to plan a first navigation path and a simulated puncture position in the virtual lung model based on the target region and constraint information of the bendable sheath

Wherein:

17. A data processing apparatus for in vivo navigation, comprising:

a path acquisition module for acquiring a first navigation path planned by the data processing method of the in-vivo path planning of any one of claims 1 to 9;

18. An electronic device, comprising a processor and a memory,

the memory is used for storing codes;

the processor is configured to execute the codes in the memory to implement the data processing method of any one of claims 1 to 15.

19. A storage medium having stored thereon a computer program which, when executed by a processor, implements the data processing method of any one of claims 1 to 15.

20. A navigation system, comprising: a bronchoscope, an adjustable bending sheath and a data processing part, wherein the data processing part is used for implementing the data processing method of any one of claims 1 to 15, and the bronchoscope is provided with a working channel for the adjustable bending sheath to pass through.