CN114010311A - Cavity path planning method and device, electronic equipment and storage medium - Google Patents
Cavity path planning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention relates to a method and a device for planning a cavity path, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring cavity image information of a target object and preset model parameter information associated with the cavity image information; establishing a finite element cavity model based on the cavity image information and the preset model parameter information; determining the starting point position and the target point position of the target cavity path in the finite element cavity model; setting a current source and a grounding point based on the position of the starting point and the position of the target point; controlling the operation of the finite element cavity model through the current source and the grounding point to obtain current density distribution information; and obtaining a target cavity path based on the current density distribution information. According to the technical scheme of the invention, based on the relevant theory of electromagnetic field finite element analysis, path planning in the cavity can be completed through cavity image information; the path planning work can be well finished for the complex internal cavity environment, and the interference of factors such as unsmooth cavity, bulges, multi-branches and the like is not easy to happen.
Description
Technical Field
The invention relates to the technical field of surgical path planning, in particular to a method and a device for planning a cavity path, electronic equipment and a storage medium.
Background
With the rapid development of medical Imaging technology, the level of Imaging and modeling human bodies by using technologies such as CT (Computed Tomography), MRI (Magnetic Resonance Imaging) and the like is greatly improved, which creates conditions for doctors to fully understand the internal conditions of patients before operation. It is desirable for the patient to have as little trauma as possible during the procedure and to minimize the duration of the procedure. These needs can be met by rational planning of the surgical path before surgery.
The current methods in the field of surgical path planning include traditional path planning methods and methods for path planning based on deep learning. However, path planning is performed through a traditional algorithm, the modeling process is complex, different human body regions and organs may need different modeling methods, and the limitation is large; for the deep learning method, the data set of the current surgical path planning is few, and the achievement of a good effect is extremely difficult.
Disclosure of Invention
The invention aims to provide a method and a device for planning a cavity path, electronic equipment and a storage medium, wherein the method and the device are used for carrying out finite element modeling through cavity image information and preset model parameter information based on an electromagnetic field finite element analysis related theory, so that the path planning in a cavity can be completed, the modeling process is relatively simple, and a large amount of preprocessing is not required to be carried out on original data according to priori knowledge; the method can be suitable for path planning of various biological natural cavities, can well complete path planning work for complex internal environments of the cavities, and is not easily interfered by factors such as unsmooth cavities, bulges, multi-branches and the like.
In order to achieve the purpose, the invention provides the following scheme:
a method of luminal path planning, the method comprising:
acquiring cavity image information of a target object and preset model parameter information associated with the cavity image information;
establishing a finite element cavity model based on the cavity image information and the preset model parameter information;
determining the starting point position and the target point position of the target cavity path in the finite element cavity model;
setting a current source and a grounding point based on the starting point position and the target point position;
controlling the finite element cavity model to operate through the current source and the grounding point to obtain current density distribution information;
and obtaining the target cavity path based on the current density distribution information.
Optionally, the establishing a finite element cavity model based on the cavity image information and the preset model parameter information includes:
establishing a three-dimensional model based on the cavity image information;
and establishing the finite element cavity model based on the three-dimensional model and the preset model parameter information.
Optionally, the preset model parameter information includes a preset constraint condition, a first model parameter and a second model parameter;
establishing a finite element cavity model based on the three-dimensional model and the preset model parameter information, wherein the establishing of the finite element cavity model comprises the following steps:
carrying out finite element meshing processing on the three-dimensional model to obtain a finite element model;
and configuring the preset constraint condition in the finite element model, and setting the conductivity of the cavity wall part and the conductivity of the cavity inner part in the finite element model as the first preset parameter and the second preset parameter respectively to obtain the finite element cavity model.
Optionally, the setting a current source and a ground point based on the start point position and the target point position includes:
setting a plane corresponding to the starting point position as the current source;
and setting the plane corresponding to the position of the target point as the grounding point.
Optionally, the obtaining the target channel path based on the current density distribution information includes:
determining a plurality of target scattered points on each point taking plane according to a preset condition based on the current density distribution information, wherein the point taking plane is one of a plurality of point taking planes in the three-dimensional model, and the point taking planes are parallel to each other;
performing fitting processing based on a plurality of target scattered points in the three-dimensional model to obtain a fitting line segment;
and correcting the fitted line segment to obtain the target cavity path.
Optionally, the modifying the fitted line segment to obtain the target cavity path includes:
acquiring a preset maximum curvature value;
and correcting the fitted line segment based on the preset maximum curvature value to obtain the target cavity path.
Optionally, the acquiring the image information of the cavity comprises:
acquiring medical image information;
and carrying out segmentation processing on the medical image information to obtain the image information of the cavity.
In another aspect, the present invention further provides a device for planning a lumen path, the device comprising:
the device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring cavity image information and preset model condition parameter information related to the cavity image information;
the modeling module is used for establishing a finite element cavity model based on the cavity image information and the preset model parameter information;
the first execution module is used for determining the starting point position and the target point position of the target cavity optimization path in the finite element cavity model;
the second execution module is used for setting a current source and a grounding point based on the starting point position and the target point position;
the second acquisition module is used for controlling the finite element cavity model to operate through the current source and the grounding point to acquire current density distribution information;
and the third acquisition module is used for acquiring the target cavity path based on the current density distribution information.
In another aspect, the present invention provides an electronic device, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the above-mentioned channel path planning method.
In another aspect, the present invention provides a non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of lumen path planning described above.
The method, the device, the electronic equipment and the storage medium for planning the cavity path provided by the invention have the advantages that the finite element modeling is carried out through the cavity image information and the preset model parameter information based on the relevant theory of electromagnetic field finite element analysis, the path planning in the cavity can be completed, the modeling process is relatively simple, and the prior knowledge is not needed to carry out a large amount of preprocessing on the original data; the method can be suitable for path planning of various biological natural cavities, can well complete path planning work for complex internal environments of the cavities, and is not easily interfered by factors such as unsmooth cavities, bulges, multi-branches and the like.
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In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art it is also possible to derive other drawings from these drawings without inventive effort.
Fig. 1 is a flowchart of a method for planning a lumen path according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for creating a finite element lumen model based on the image information of the lumen and the parameter information of the preset model according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for establishing a finite element lumen model based on a three-dimensional model and preset model parameter information according to an embodiment of the present invention.
Fig. 4 is a flowchart of a method for setting a current source and a grounding point based on a start point position and a target point position according to an embodiment of the present invention.
Fig. 5 is a flowchart of a method for obtaining a target channel path based on current density distribution information according to an embodiment of the present invention.
Fig. 6 is a flowchart of a method for obtaining a target lumen path by correcting a fitted line segment according to an embodiment of the present invention.
Fig. 7 is a flowchart of a method for acquiring image information of a lumen channel according to an embodiment of the present invention.
Fig. 8 is a structural block diagram of a lumen path planning device according to an embodiment of the present 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above 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.
First, an embodiment of a lumen path planning method according to the present invention is introduced, and fig. 1 is a flowchart of a lumen path planning method according to an embodiment of the present invention. The present specification provides method steps as described in the examples or flowcharts, but may include more or fewer steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system products may be executed sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) in accordance with the methods described in the embodiments or figures.
As shown in fig. 1, the present embodiment provides a method for planning a lumen path, including:
s101, acquiring cavity channel image information of a target object and preset model parameter information associated with the cavity channel image information;
the target object may be a living being having a lumen, such as a human being, among others. The luminal aspect image information may be image information of a target object or a part of the target object obtained in a non-invasive manner for medical treatment or medical research. The luminal image information may include luminal CT image information and luminal nuclear magnetic resonance image information. The image information of the cavity channel can be obtained by leading in the image information through an imaging device by a user. The preset model parameter information can be used for configuring boundary conditions and constraint conditions in the model construction process. The preset model parameter information may include a preset constraint, a first model parameter, and a second model parameter. The preset constraint condition may be a limit condition for model construction, and the preset constraint condition may be set in advance. The first model parameter and the second model parameter may be determined after obtaining the corresponding type of the cavity based on the cavity image information.
In practical application, the target object can be subjected to image acquisition through the imaging device, and the cavity image information of the target object is obtained. The type or the complexity of the cavity can be obtained according to the cavity image information, so that the first model parameter and the second model parameter in the preset model parameter information are further determined according to the type and the complexity of the cavity.
S102, establishing a finite element cavity model based on cavity image information and preset model parameter information;
the finite element cavity model can be a cavity model established by using a finite element analysis method. Finite element analysis uses mathematical approximation to simulate real physical systems (geometry and load conditions). With simple and interacting elements (i.e., cells), a finite number of unknowns can be used to approximate a real system of infinite unknowns. Finite element analysis is solved by replacing a complex problem with a simpler one. It considers the solution domain as consisting of a number of small interconnected subdomains called finite elements, assuming a suitable (simpler) approximate solution for each element, and then deducing the overall satisfaction conditions (e.g. structural equilibrium conditions) for solving this domain, to arrive at a solution to the problem. This solution is not an exact solution, but an approximate solution, since the actual problem is replaced by a simpler problem. Most practical problems are difficult to obtain accurate solutions, and finite elements not only have high calculation precision, but also can adapt to various complex shapes, so that the finite element becomes an effective engineering analysis means.
In practical application, the finite element cavity model establishment and the electromagnetic field finite element analysis can be carried out based on COMSOL Multiphysics software or ANSYS software.
S103, determining the starting point position and the target point position of the target cavity path in the finite element cavity model;
wherein, the target lumen path may refer to a path planned for surgery in a lumen of the target subject. The target lumen path may be a curvilinear path inside a lumen of the target object. The starting point position may be a starting point position of the target object lumen to be operated on, and the target point position may be an ending point position of the target object lumen to be operated on.
In practical applications, the starting point position and the target point position can be determined according to the region to be operated on of the target object.
S104, setting a current source and a grounding point based on the position of the starting point and the position of the target point;
the current source and the grounding point can refer to a current source unit in an electromagnetism module in the electromagnetic field finite element analysis related software. The grounding point can refer to a grounding point unit in an electromagnetism module in the electromagnetic field finite element analysis related software.
In practical application, the current source may be set at the starting point position, and the grounding point may be set at the target point position.
S105, controlling the finite element cavity model to operate through a current source and a grounding point to obtain current density distribution information;
the current density distribution information can represent the current density distribution in the finite element cavity channel model under the condition that the current source and the grounding point operate.
In practical application, a proper learning step length can be set, the finite element cavity model is controlled to operate for a preset time length through the current source and the grounding point, and current density distribution information can be obtained, wherein the preset time length of operation is related to the learning step length; or the current density distribution information may be acquired after receiving the operation completion signal, which is not limited in this disclosure.
And S106, obtaining a target cavity path based on the current density distribution information.
In practical application, based on the current density distribution information and in combination with the three-dimensional model, the three-dimensional model with current density distribution can be sliced according to a Z plane and at a preset interval length. The distribution on each slice may represent the electric field distribution at the slice plane. It will be appreciated that for each individual slice, this may be viewed as a set of two-dimensional potential distribution data. The area with the maximum voltage value can be found on each slice, so that the maximum voltage value distribution information on a plurality of slices in the three-dimensional model can be obtained. And fitting based on the maximum voltage value distribution information, wherein the obtained fitting line segment can be used as a target cavity path.
Based on the electromagnetic field finite element analysis correlation theory, finite element modeling is carried out through the cavity image information and the preset model parameter information, path planning in the cavity can be completed, the modeling process is relatively simple, and a large amount of preprocessing is not needed to be carried out on the original data according to priori knowledge; the method can be suitable for path planning of various biological natural cavities, can well complete path planning work for complex internal environments of the cavities, and is not easily interfered by factors such as unsmooth cavities, bulges, multi-branches and the like.
Fig. 2 is a flowchart of a method for creating a finite element lumen model based on the image information of the lumen and the parameter information of the preset model according to an embodiment of the present invention. In one possible implementation, as shown in fig. 2, the step S102 may include:
s201, establishing a three-dimensional model based on cavity channel image information;
wherein the three-dimensional model may be a polygonal representation of the lumen. In particular, the three-dimensional model may be in the form of a triangular surface.
In practical applications, a three-dimensional model can be obtained by modeling the cavity based on the cavity image information by using a modeling algorithm or software (e.g., 3d scanner). After the three-dimensional model is established, the three-dimensional model can be subjected to post-processing, so that the three-dimensional model is more attached to a natural cavity, and the accuracy of path planning is improved. Specifically, the post-processing method may include damaged surface repair, complex structure simplification, and the like.
S202, establishing a finite element cavity model based on the three-dimensional model and preset model parameter information.
The preset model parameter information may be related parameters for constructing a finite element lumen model.
In practical application, the three-dimensional model can be subjected to finite element meshing processing to obtain a finite element model, and the finite element model is configured based on preset model parameter information.
Fig. 3 is a flowchart of a method for establishing a finite element lumen model based on a three-dimensional model and preset model parameter information according to an embodiment of the present invention. In one possible embodiment, the preset model parameter information includes a preset constraint condition, a first model parameter and a second model parameter; as shown in fig. 3, the step S202 may include:
s301, carrying out finite element meshing processing on the three-dimensional model to obtain a finite element model;
wherein the accuracy obtained on the basis of any finite element analysis model is directly related to the finite element mesh used. The finite element meshing processing can be local adaptive meshing, error estimation is carried out on a part of subsets of the whole model space according to specific measurement indexes, and then a brand new mesh is generated according to error estimation information, namely, a smaller unit is used in a region with more obvious errors. Other methods (such as global adaptive mesh refinement) may also be adopted in the specific finite element meshing method, and the disclosure is not limited.
S302, configuring preset constraint conditions in the finite element model, and setting the conductivity of the cavity wall part and the conductivity of the cavity inner part in the finite element model as a first preset parameter and a second preset parameter respectively to obtain the finite element cavity channel model.
Wherein, this disclosure mainly uses electromagnetism module among the finite element analysis to carry out the analysis, predetermines the constraint condition and can be:
the derivation process of the preset constraint condition is as follows:
the 3D form of ohm's law is known as:
wherein J represents current density (A/m ^2), sigma is conductivity, V represents volume,
is a Hamiltonian.
A cube of volume V in space, provided with a current density i by a portion of surface area Ss(A/m3) According to the divergence theorem of any vector field v:
and J ═ v, then:
finally, the following can be obtained:
in particular, the first preset parameter and the second preset parameter may be σ, respectivelyW0.0001(S/m) and σC1000 (S/m). Let σ be because we expect the planned path to be within the lumen, soW＜＜＜σC. The setting of the first preset parameter and the second preset parameter can be determined by combining the actual conditions of the cavity, for example, when the overall size of the cavity is larger, a larger sigma can be adoptedCTo avoid that the voltage value difference of each point in each slice is small in the process of obtaining the target channel path based on the current density distribution information, namely, by adopting larger sigmaCThe accuracy of the planned path for a channel of larger overall size can be improved.
Fig. 4 is a flowchart of a method for setting a current source and a grounding point based on a start point position and a target point position according to an embodiment of the present invention. In one possible implementation, as shown in fig. 4, the step S104 may include:
s401, setting a plane corresponding to a starting point position as a current source;
a small plane may be taken at the starting point, which may be a plane of 1.25mm by 1.25mm in this embodiment, and is set as a current source. The dimensions of the plane may be determined according to the cross-sectional area of the starting point location corresponding to the location of the channel.
S402, setting a plane corresponding to the position of the target point as a grounding point.
A small plane may be taken at the target point, which may be a plane of 1.25mm by 1.25mm in this embodiment, and set as the ground. The dimensions of the plane may be determined in accordance with the cross-sectional area of the target point location corresponding to the location of the channel.
Fig. 5 is a flowchart of a method for obtaining a target channel path based on current density distribution information according to an embodiment of the present invention. In one possible implementation, as shown in fig. 5, the step S106 may include:
s501, determining a plurality of target scattered points on each point taking plane according to preset conditions based on current density distribution information, wherein the point taking plane is one of a plurality of point taking planes in the three-dimensional model, and the plurality of point taking planes are parallel to each other;
the preset condition may be that the voltage value is maximum and is located on the sampling point plane. The number of target scatter points taken on a single point-taking plane may be three.
S502, fitting is carried out on the basis of a plurality of target scattered points in the three-dimensional model to obtain a fitting line segment;
the multiple target scatter points in the three-dimensional model may refer to all target scatter points determined on all point-taking planes in the three-dimensional model. Through the fitting process, part of the scattered points can be connected through a fitting line segment. The fitted line segment may be a smooth curve.
And S503, correcting the fitted line segment to obtain a target cavity path.
Based on the requirement of the actual operation, the fitting line segment can be corrected, and the fitting path is finely adjusted, so that the target cavity path can better meet the operation requirement.
The fitting line segment obtained through electromagnetic field finite element analysis is basically located in the central range of the cavity, so that the difficulty of post-treatment can be greatly reduced.
Fig. 6 is a flowchart of a method for obtaining a target lumen path by correcting a fitted line segment according to an embodiment of the present invention. In a possible implementation manner, the step S503 may include:
s601, acquiring a preset maximum curvature value;
wherein the preset maximum curvature value may be a maximum curvature value allowable for the target channel path. The preset maximum curvature value may be preset and stored in the memory.
And S602, based on a preset maximum curvature value, correcting the fitted line segment to obtain a target cavity path.
The local line segments of the fitted line segments that are larger than the preset maximum curvature value may be corrected, for example, the curvature value of the line segment with the excessively large curvature value may be decreased.
The fitted line segment is corrected, so that the condition that the target cavity path is bent too much is prevented, and the operation scene and the operation requirement can be better adapted.
In practical application, after the target lumen path is obtained through correction processing, the original medical image, the three-dimensional model and the target lumen path in the medical image information can be registered. After the registration is completed, the original medical image, the three-dimensional model and the target cavity path can be displayed, so that the relative position relationship among the target cavity path, the original medical image and the three-dimensional model can be observed conveniently.
Fig. 7 is a flowchart of a method for acquiring image information of a lumen channel according to an embodiment of the present invention. In one possible embodiment, as shown in fig. 7, acquiring the image information of the lumen may include:
s701, acquiring medical image information;
the medical image information may refer to a medical original image obtained by a medical device. The medical image information may include CT image information and magnetic resonance image information. The medical image information may be user-input.
S702, the medical image information is segmented to obtain the cavity image information.
The segmentation processing method can be a traditional image algorithm method, such as threshold segmentation, dilation-erosion and other algorithms, and can also be various deep learning algorithms, such as 3D-Unet, NiftyNet, 3D V-Net and the like.
Fig. 8 is a structural block diagram of a lumen path planning device according to an embodiment of the present invention. In this embodiment, as shown in fig. 8, there is further provided a device for planning a lumen path, the device including:
the first acquisition module 10 is configured to acquire the image information of the lumen and preset model condition parameter information associated with the image information of the lumen;
the modeling module 20 is used for establishing a finite element cavity model based on the cavity image information and the preset model parameter information;
the first execution module 30 is used for determining the starting point position and the target point position of the target cavity optimization path in the finite element cavity model;
a second executing module 40 for setting a current source and a ground point based on the starting point position and the target point position;
the second acquisition module 50 is used for controlling the finite element cavity model to operate through the current source and the grounding point to acquire current density distribution information;
and a third obtaining module 60, configured to obtain the target channel path based on the current density distribution information.
In this embodiment, there is also provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the above-mentioned channel path planning method.
In this embodiment, a storage medium is further provided, and when executed by a processor of an electronic device, instructions in the storage medium enable the electronic device to perform the channel path planning method in this embodiment of the present application.
It is noted that while for simplicity of explanation, the foregoing method embodiments have been presented as a series of interrelated states or acts, it should be appreciated by those skilled in the art that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Similarly, the modules of the lumen path planning device refer to computer programs or program segments for performing one or more specific functions, and the distinction between the modules does not mean that the actual program code is also necessarily separate. Further, the above embodiments may be arbitrarily combined to obtain other embodiments.
In the foregoing embodiments, the descriptions of the embodiments have respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment. Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (10)
1. A method of luminal path planning, the method comprising:
acquiring cavity image information of a target object and preset model parameter information associated with the cavity image information;
establishing a finite element cavity model based on the cavity image information and the preset model parameter information;
determining the starting point position and the target point position of the target cavity path in the finite element cavity model;
setting a current source and a grounding point based on the starting point position and the target point position;
controlling the finite element cavity model to operate through the current source and the grounding point to obtain current density distribution information;
and obtaining the target cavity path based on the current density distribution information.
2. The method of claim 1, wherein the establishing a finite element luminal model based on the luminal image information and the preset model parameter information comprises:
establishing a three-dimensional model based on the cavity image information;
and establishing the finite element cavity model based on the three-dimensional model and the preset model parameter information.
3. The method according to claim 2, wherein the preset model parameter information includes preset constraints, first model parameters, and second model parameters;
establishing a finite element cavity model based on the three-dimensional model and the preset model parameter information, wherein the establishing of the finite element cavity model comprises the following steps:
carrying out finite element meshing processing on the three-dimensional model to obtain a finite element model;
and configuring the preset constraint condition in the finite element model, and setting the conductivity of the cavity wall part and the conductivity of the cavity inner part in the finite element model as the first preset parameter and the second preset parameter respectively to obtain the finite element cavity model.
4. The method of claim 1, wherein setting a current source and a ground point based on the start point location and the target point location comprises:
setting a plane corresponding to the starting point position as the current source;
and setting the plane corresponding to the position of the target point as the grounding point.
5. The method of claim 2, wherein said obtaining the target lumen path based on the current density distribution information comprises:
determining a plurality of target scattered points on each point taking plane according to a preset condition based on the current density distribution information, wherein the point taking plane is one of a plurality of point taking planes in the three-dimensional model, and the point taking planes are parallel to each other;
performing fitting processing based on a plurality of target scattered points in the three-dimensional model to obtain a fitting line segment;
and correcting the fitted line segment to obtain the target cavity path.
6. The method of claim 5, wherein the modifying the fitted line segment to obtain the target lumen path comprises:
acquiring a preset maximum curvature value;
and correcting the fitted line segment based on the preset maximum curvature value to obtain the target cavity path.
7. The method of claim 1, wherein the acquiring of the luminal image information comprises:
acquiring medical image information;
and carrying out segmentation processing on the medical image information to obtain the image information of the cavity.
8. A device for planning a path of a lumen, the device comprising:
the device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring cavity image information and preset model condition parameter information related to the cavity image information;
the modeling module is used for establishing a finite element cavity model based on the cavity image information and the preset model parameter information;
the first execution module is used for determining the starting point position and the target point position of the target cavity optimization path in the finite element cavity model;
the second execution module is used for setting a current source and a grounding point based on the starting point position and the target point position;
the second acquisition module is used for controlling the finite element cavity model to operate through the current source and the grounding point to acquire current density distribution information;
and the third acquisition module is used for acquiring the target cavity path based on the current density distribution information.
9. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute the executable instructions to implement the lumen path planning method of any one of claims 1-7.
10. A non-transitory computer readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the method of planning a lumen path according to any of claims 1 to 7.
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