CN114010311B - Cavity road path planning method and device, electronic equipment and storage medium - Google Patents
Cavity road path planning method and device, electronic equipment and storage medium Download PDFInfo
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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Abstract
The invention relates to a method, a device, electronic equipment and a storage medium for planning a road path of a cavity, which comprise the following steps: acquiring cavity image information of a target object and preset model parameter information related to the cavity image information; based on the cavity image information and preset model parameter information, establishing a finite element cavity model; determining a starting point position and a target point position of a target cavity path in a 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 a current source and a grounding point to obtain current density distribution information; based on the current density distribution information, a target channel path is obtained. According to the technical scheme, path planning in the cavity can be completed through cavity image information based on the electromagnetic field finite element analysis correlation theory; for complex intra-cavity environments, path planning work can be well completed, and the method is not easy to be interfered by factors such as cavity smoothness, bulges, multiple branches and the like.
Description
Technical Field
The present invention relates to the field of surgical path planning technologies, and in particular, to a method and apparatus for planning a path of a luminal path, an electronic device, and a storage medium.
Background
With the rapid development of medical imaging technology, the level of imaging and modeling of a human body by utilizing technologies such as CT (Computed Tomography), MRI (Magnetic Resonance Imaging) and the like is greatly improved, which creates conditions for a doctor to fully understand the condition in the patient before operation. It is necessary for the patient to be as little injured as possible during surgery and to shorten the surgery time as much as possible. These needs can be achieved by rational planning of the surgical path prior to surgery.
Current methods in the surgical path planning field include conventional path planning methods and methods for path planning based on deep learning. However, the path planning is performed by the traditional algorithm, the modeling process is complex, and different modeling methods are possibly required for different human body areas and organs, so that the limitation is high; for a deep learning method, the current operation path planning data set is few, and great difficulty is brought to achieving a better effect.
Disclosure of Invention
The invention aims to provide a method, a device, electronic equipment and a storage medium for planning a path of a cavity road, which are based on the theory related to finite element analysis of an electromagnetic field, carry out finite element modeling through cavity road image information and preset model parameter information, can complete path planning in the cavity road, have relatively simple modeling process and do not need to carry out a large amount of pretreatment on original data according to priori knowledge; the method can be suitable for path planning of various biological natural channels, and can well complete path planning work for complex intra-channel environments, and is not easy to be interfered by factors such as channel unevenness, bulge, multiple branches and the like.
In order to achieve the above object, the present invention provides the following solutions:
a method of luminal road 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 a starting point position and a target point position of a 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:
based on the cavity image information, a three-dimensional model is established;
and establishing the finite element cavity channel 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;
the establishing a finite element cavity model based on the three-dimensional model and the preset model parameter information comprises the following steps:
performing finite element mesh division on the three-dimensional model to obtain a finite element model;
and configuring the preset constraint conditions in the finite element model, and setting the conductivities of the cavity wall part and 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 channel model.
Optionally, the setting a current source and a ground point based on the starting point position and the target point position includes:
setting a plane corresponding to the starting point position as the current source;
and setting a plane corresponding to the target point position as the grounding point.
Optionally, the obtaining the target cavity path based on the current density distribution information includes:
determining a plurality of target scattered points on each point taking plane according to preset conditions 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 plurality of point taking planes are parallel to each other;
fitting processing is carried out on the basis of a plurality of target scattered points in the three-dimensional model, and a fitting line segment is obtained;
and correcting the fitted line segment to obtain the target cavity path.
Optionally, the correcting the fitted line segment to obtain the target cavity road path includes:
acquiring a preset maximum curvature value;
and carrying out correction processing on the fitting line segment based on the preset maximum curvature value to obtain the target cavity road diameter.
Optionally, the obtaining the image information of the cavity includes:
acquiring medical image information;
and carrying out segmentation processing on the medical image information to obtain the cavity image information.
In another aspect, the present invention further provides a device for planning a path of a cavity road, the device comprising:
the first acquisition module is used for acquiring the cavity image information and the 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 a starting point position and a target point position of a target cavity channel optimization path in the finite element cavity channel model;
a second execution module for setting a current source and a ground point based on the start point position and the target point position;
the second acquisition module is used for controlling the finite element cavity channel model to operate through the current source and the grounding point to obtain 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, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the above-described lumen 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 above-described method of lumen path planning.
According to the method, the device, the electronic equipment and the storage medium for planning the path of the cavity road, provided by the invention, based on the theory related to finite element analysis of the electromagnetic field, finite element modeling is carried out through cavity road image information and preset model parameter information, so that path planning in the cavity road can be completed, the modeling process is relatively simple, and a great 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 channels, and can well complete path planning work for complex intra-channel environments, and is not easy to be interfered by factors such as channel unevenness, bulge, multiple branches and the like.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the following description will make a brief introduction to the drawings used in the description of the embodiments or the prior art. It should be apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained from these drawings without inventive effort to those of ordinary skill in the art.
Fig. 1 is a flowchart of a method for planning a path of a cavity road according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for establishing a finite element cavity model based on cavity image information and preset model parameter information according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for establishing a finite element cavity 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 ground 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 cavity road diameter by performing correction processing on a fitted line segment according to an embodiment of the present invention.
Fig. 7 is a flowchart of a method for obtaining image information of a cavity according to an embodiment of the present invention.
Fig. 8 is a block diagram of a planning apparatus for a road path of a cavity according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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 method for planning a path of a road in a cavity is described, and fig. 1 is a flowchart of a method for planning a path of a road in a cavity according to an embodiment of the present invention. The present specification provides method operational steps as described in the examples or flowcharts, but may include more or fewer operational steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. In actual system products, the processes may execute sequentially or in parallel (e.g., in a parallel processor or a multithreaded environment) in accordance with the methods shown in the embodiments or figures.
As shown in fig. 1, the present embodiment provides a method for planning a path of a cavity road, which includes:
s101, acquiring cavity image information of a target object and preset model parameter information related to the cavity image information;
wherein the target object may be a living being having a lumen, such as a human. The luminal image information may be image information of a luminal portion of a target object or a portion of a target object obtained non-invasively for medical or medical study. The cavity image information may include cavity CT image information and cavity nuclear magnetic resonance image information. The image information of the cavity can be obtained by leading in the image information by a user through image equipment. 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 preset constraints, first model parameters, and second model parameters. The preset constraint condition may be a constraint condition for model construction, and the preset constraint condition may be preset. The first model parameter and the second model parameter may be determined after obtaining the corresponding channel type based on the channel image information.
In practical application, image acquisition can be performed on a target object through image equipment to obtain cavity image information of the target object. The channel type or the channel complexity can be obtained according to the channel 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 channel type and the channel complexity.
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 simulates real physical systems (geometry and load conditions) using a mathematical approximation method. With simple and interactive elements (i.e., cells), a finite number of unknowns can be used to approximate an infinite number of real systems. Finite element analysis is to replace complex problems with simpler ones and solve them. It regards the solution domain as consisting of a number of small interconnected subfields, called finite elements, assuming a suitable (simpler) approximate solution for each cell, and then deducing the solution to the overall satisfaction conditions of this domain (such as the equilibrium conditions of the structure), thus yielding a solution to the problem. Because the actual problem is replaced by a simpler problem, this solution is not an exact solution, but an approximate solution. Most practical problems are difficult to obtain accurate solutions, and finite elements have high calculation accuracy and can adapt to various complex shapes, so that the method becomes an effective engineering analysis means.
In practical application, the establishment of the finite element cavity channel model and the finite element analysis of the electromagnetic field can be performed based on COMSOL Multiphysics software or ANSYS software.
S103, determining a starting point position and a target point position of a target cavity path in the finite element cavity model;
the target luminal path may refer to a path planned in the luminal of the target object for surgery, among other things. The target lumen path may be a curvilinear path inside the lumen of the target object. The starting point position may be a starting point position of the target object cavity to be operated on, and the target point position may be an ending point position of the target object cavity to be operated on.
In practical applications, the starting point position and the target point position may 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 initial point position and the target point position;
wherein, the current source and the grounding point can refer to a current source unit in an electromagnetic module in the electromagnetic field finite element analysis related software. The ground point may refer to a ground point element in an electromagnetic module in the electromagnetic field finite element analysis related software.
In practical application, a current source may be set at a start point position, and a ground point may be set at a 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 characterize the current density distribution in the finite element cavity model under the condition of current source and grounding point operation.
In practical application, a proper learning step length can be set, and the running preset time length of the finite element cavity channel model is controlled through the current source and the grounding point, so that the current density distribution information can be obtained, wherein the running preset time length is related to the learning step length; the current density distribution information may be acquired after receiving the operation completion signal, and the present disclosure is not limited thereto.
S106, obtaining a target cavity path based on the current density distribution information.
In practical application, based on current density distribution information and in combination with the three-dimensional model, slicing processing can be performed on the three-dimensional model with current density distribution according to a Z plane and at intervals by a preset 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, it can be seen as a set of two-dimensional potential distribution data. The region with the largest 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 carrying out fitting processing based on the maximum voltage distribution information, and taking the obtained fitting line segment as a target cavity path.
Based on the electromagnetic field finite element analysis correlation theory, finite element modeling is carried out through cavity image information and preset model parameter information, so that path planning in a cavity can be completed, the modeling process is relatively simple, and a large amount of preprocessing of original data is not required according to priori knowledge; the method can be suitable for path planning of various biological natural channels, and can well complete path planning work for complex intra-channel environments, and is not easy to be interfered by factors such as channel unevenness, bulge, multiple branches and the like.
Fig. 2 is a flowchart of a method for establishing a finite element cavity model based on cavity image information and preset model parameter information according to an embodiment of the present invention. In one possible embodiment, as shown in fig. 2, the step S102 may include:
s201, establishing a three-dimensional model based on the cavity image information;
wherein the three-dimensional model may be a polygonal representation of the lumen channel. In particular, the three-dimensional model may be in the form of a triangular surface.
In practical applications, the three-dimensional model can be obtained by modeling the cavity based on the cavity image information through using a modeling algorithm or software (such as 3 DSlicer). After the three-dimensional model is established, the three-dimensional model can be subjected to post-treatment so that the three-dimensional model is more attached to a natural cavity channel, and the accuracy of path planning is improved. In particular, post-treatment methods may include damaged surface repair, complex structural 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 cavity model.
In practical application, the finite element mesh division processing can be performed on the three-dimensional model 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 cavity 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, a first model parameter, and a second model parameter; as shown in fig. 3, the step S202 may include:
s301, performing finite element mesh division on the three-dimensional model to obtain a finite element model;
wherein the accuracy obtained based on any finite element analysis model is directly related to the finite element mesh used. The finite element meshing process may be to use local adaptive meshing, perform error estimation on a subset of the total model space according to a particular metric, and then generate a new mesh based on the error estimation information, i.e., smaller cells may be used in areas where errors are more significant. Other methods (such as global adaptive mesh refinement) may also be used for the specific finite element mesh partitioning method, and the disclosure is not limited thereto.
S302, configuring preset constraint conditions in a finite element model, and setting the conductivities of a cavity wall part and an intracavity part in the finite element model as a first preset parameter and a second preset parameter respectively to obtain a finite element cavity channel model.
The present disclosure mainly uses an electromagnetic module in finite element analysis for analysis, and preset constraint conditions may 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), σ is conductivity, V represents volume, </i >>Is a hamiltonian.
A volume V cube in the space, provided by a portion of surface area S with a current density i s (A/m 3 ) According to any of the divergence theorem for vector field v:
and j=v, then:
finally, the method can obtain:
specifically, the first preset parameter and the second preset parameter may be σ, respectively W =0.0001 (S/m) and σ C =1000 (S/m). Since we expect the planned path to be in the lumen, let σ W ＜＜＜σ C . 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 large, a large sigma can be adopted C To avoid small differences in voltage values at various points in each slice, i.e. by employing a large sigma, in the process of obtaining the target cavity path based on current density distribution information C The accuracy of the planned path for the overall larger size of the lumen can be improved.
Fig. 4 is a flowchart of a method for setting a current source and a ground 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 the initial point position as a current source;
a facet 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 based on the cross-sectional area of the starting point location corresponding to the location of the channel.
S402, setting a plane corresponding to the target point position as a grounding point.
A facet may be taken at the target point, which may be a plane of 1.25mm by 1.25mm in this embodiment, and is set to ground. The dimensions of the plane may be determined based on the cross-sectional area of the target point location corresponding to the location of the lumen.
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 embodiment, 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 a 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 the maximum and the voltage value is located on the point-taking plane. The number of target scatter points taken on a single point-taking plane may be three.
S502, fitting processing is carried out on the basis of a plurality of target scattered points in the three-dimensional model, and a fitting line segment is obtained;
the plurality of target scattered points in the three-dimensional model may refer to all target scattered points determined on all the point taking planes in the three-dimensional model. By fitting, part of the scattered points can be connected by fitting line segments. The fitted line segment may be a smooth curve.
S503, correcting the fitted line segment to obtain a target cavity path.
Based on the actual operation requirement, the fitting line segment can be corrected, and the fitting path is finely adjusted, so that the target cavity road diameter can meet the operation requirement more.
The fitting line segment obtained through the finite element analysis of the electromagnetic field is basically positioned 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 cavity road diameter by performing correction processing on a fitted line segment according to an embodiment of the present invention. In one possible implementation manner, the step S503 may include:
s601, acquiring a preset maximum curvature value;
the preset maximum curvature value may be a maximum curvature value allowable for the path of the target cavity. The preset maximum curvature value may be preset and stored in the memory.
S602, correcting the fitted line segment based on a preset maximum curvature value to obtain the target cavity road diameter.
The local line segment with the curvature value larger than the preset maximum curvature value in the fitting line segment can be corrected, for example, the curvature value of the line segment with the curvature value larger than the preset maximum curvature value can be reduced.
The fitting line segments are corrected, so that the condition that the road diameter of the target cavity is excessively bent is prevented, and the method can be better adapted to the operation scene and the requirements.
In practical application, after the target cavity road diameter is obtained through correction processing, the original medical image, the three-dimensional model and the target cavity road diameter in the medical image information can be registered. After 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 between the target cavity path and the original medical image and the three-dimensional model can be conveniently observed.
Fig. 7 is a flowchart of a method for obtaining image information of a cavity according to an embodiment of the present invention. In one possible embodiment, as shown in fig. 7, acquiring the image information of the cavity may include:
s701, acquiring medical image information;
the medical image information may refer to a medical raw image obtained by the medical device. The medical image information may include CT image information and nuclear magnetic resonance image information. The medical image information may be user-entered.
S702, dividing the medical image information 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 block diagram of a planning apparatus for a road path of a cavity according to an embodiment of the present invention. In this embodiment, as shown in fig. 8, there is also provided a device for planning a path of a cavity road, the device including:
the first acquisition module 10 is used for acquiring the cavity image information and the preset model condition parameter information related to the cavity image information;
the modeling module 20 is configured to establish a finite element cavity model based on the cavity image information and the preset model parameter information;
a first execution module 30, configured to determine a start point position and a target point position of the target channel optimization path in the finite element channel model;
a second execution module 40 for setting a current source and a ground point based on the start point position and the target point position;
the second obtaining module 50 is configured to control the operation of the finite element cavity model through the current source and the grounding point, so as to obtain current density distribution information;
a third obtaining module 60, configured to obtain a 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 perform the above-described lumen path planning method.
In this embodiment, there is also provided a storage medium, which when executed by a processor of an electronic device, enables the electronic device to perform the method for planning a road path in a cavity in the embodiments of the present application.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as two series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention. Likewise, the modules of the road path planning apparatus refer to computer programs or program segments for performing one or more specific functions, and the distinction of the modules does not represent that the actual program code must be separated. In addition, any combination of the above embodiments may be used to obtain other embodiments.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of each embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments. Those of skill in the art will further appreciate that the various illustrative logical blocks (illustrative logical block), units, and steps described in connection with the embodiments of the invention may be implemented by electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components (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. Those skilled in the art may implement the described functionality in varying ways for each particular application, but such implementation is not to be understood as beyond the scope of the embodiments of the present invention.
The foregoing description has fully disclosed specific embodiments of this invention. It should be noted that any modifications to the specific embodiments of the invention may be made by those skilled in the art without departing from the scope of the invention as defined in the appended claims. Accordingly, the scope of the claims of the present invention is not limited to the foregoing detailed description.
Claims (7)
1. A method for planning a path of a cavity road, 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; the establishing a finite element cavity model based on the cavity image information and the preset model parameter information comprises the following steps: based on the cavity image information, a three-dimensional model is established; establishing the finite element cavity channel model based on the three-dimensional model and the preset model parameter information; the preset model parameter information comprises preset constraint conditions, first model parameters and second model parameters; the establishing a finite element cavity model based on the three-dimensional model and the preset model parameter information comprises the following steps: performing finite element mesh division on the three-dimensional model to obtain a finite element model; configuring the preset constraint conditions in the finite element model, and setting the conductivities of a cavity wall part and an intracavity 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;
determining a starting point position and a target point position of a 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 based on the current source and the grounding point to obtain current density distribution information;
obtaining the target cavity road diameter based on the current density distribution information;
the obtaining the target cavity path based on the current density distribution information includes:
determining a plurality of target scattered points on each point taking plane according to preset conditions 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 plurality of point taking planes are parallel to each other;
fitting processing is carried out on the basis of a plurality of target scattered points in the three-dimensional model, and a fitting line segment is obtained;
and correcting the fitted line segment to obtain the target cavity path.
2. The method of claim 1, wherein the setting a current source and a ground point based on the starting point position and the target point position comprises:
setting a plane corresponding to the starting point position as the current source;
and setting a plane corresponding to the target point position as the grounding point.
3. The method of claim 1, wherein the modifying the fitted line segment to obtain the target cavity road diameter comprises:
acquiring a preset maximum curvature value;
and carrying out correction processing on the fitting line segment based on the preset maximum curvature value to obtain the target cavity road diameter.
4. The method of claim 1, wherein the obtaining the image information of the lumen tract of the target object comprises:
acquiring medical image information;
and carrying out segmentation processing on the medical image information to obtain the cavity image information.
5. A luminal road path planning apparatus, the apparatus comprising:
the first acquisition module is used for acquiring the cavity image information of the target object and preset model 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 establishing a finite element cavity model based on the cavity image information and the preset model parameter information comprises the following steps: based on the cavity image information, a three-dimensional model is established; establishing the finite element cavity channel model based on the three-dimensional model and the preset model parameter information; the preset model parameter information comprises preset constraint conditions, first model parameters and second model parameters; the establishing a finite element cavity model based on the three-dimensional model and the preset model parameter information comprises the following steps: performing finite element mesh division on the three-dimensional model to obtain a finite element model; configuring the preset constraint conditions in the finite element model, and setting the conductivities of a cavity wall part and an intracavity 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;
the first execution module is used for determining the starting point position and the target point position of the target cavity path in the finite element cavity model;
a second execution module for setting a current source and a ground point based on the start point position and the target point position;
the second acquisition module is used for controlling the finite element cavity channel model to operate based on the current source and the grounding point to acquire current density distribution information;
the third obtaining module is configured to obtain the target cavity path based on the current density distribution information, and includes: determining a plurality of target scattered points on each point taking plane according to preset conditions 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 plurality of point taking planes are parallel to each other; fitting processing is carried out on the basis of a plurality of target scattered points in the three-dimensional model, and a fitting line segment is obtained; and correcting the fitted line segment to obtain the target cavity path.
6. 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 luminal path planning method of any of claims 1-4.
7. A non-transitory computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the luminal road path planning method of any of claims 1 to 4.
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