Surgical path planning method, system, electronic device, and storage medium

Abstract

The application discloses a surgical path planning method, comprising the following steps: acquiring preoperative CT or MRI image data; planning a puncture needle path according to the image data; performing spatial position registration among the image data, a body membrane and a mechanical arm through an optical positioning device; wherein an end of the mechanical arm is provided with an ultrasonic probe and a force sensor; the mechanical arm takes the needle and moves to the surface of the body membrane according to a preset path after taking the needle; and the needle is planted according to the puncture needle path. According to the surgical path planning method, the ultrasonic equipment is used to replace CT imaging in the operation, so that the radiation suffered by the patient and the doctor in the operation can be reduced, the ultrasonic probe can realize image visualization of the operation process, the optical positioning device is used for real-time positioning, real-time navigation in the operation is realized, the force feedback information is acquired in real time through the integrated force sensor, and the safety in the operation is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical planning, in particular to a surgical path planning method and system, an electronic device and a storage medium. BACKGROUND

[0002] Liver cancer is a major killer affecting human health. Current treatment methods for liver cancer mainly include ablation and I125 particle implantation. Current liver cancer surgery generally uses preoperative CT (Computed Tomography) imaging and intraoperative CT guidance to assist completion. However, this method mainly relies on the doctor to perform needle insertion manually, and then the medical image is used to confirm the operation. The surgical precision is low, and the doctor and the patient need to be exposed to CT radiation multiple times. If I125 particle implantation is used for surgery, the doctor's hands will also be exposed to radiation to some extent. In addition, this requires a high level of surgical experience for doctors, and novice doctors may need to implant the needle multiple times, which increases the harm to the patient to some extent, and may also cause certain complications after surgery. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a surgical path planning method and system, an electronic device and a storage medium, which can reduce the radiation received by the patient and the doctor during surgery, and reduce the difficulty of surgery and ensure the safety of surgery.

[0004] In one aspect, the surgical path planning method according to an embodiment of the present application comprises the following steps: obtaining preoperative CT or MRI image data; planning a puncture needle path according to the image data; and performing spatial position registration between the image data, the body membrane and the mechanical arm through an optical positioning device; wherein the end of the mechanical arm is provided with an ultrasonic probe and a force sensor; the mechanical arm takes the needle and moves to the surface of the body membrane according to the preset path after taking the needle; and the needle is implanted according to the puncture needle path.

[0005] The surgical path planning method according to an embodiment of the present application has at least the following beneficial effects: the use of an ultrasonic device instead of CT imaging during surgery can reduce the radiation received by the patient and the doctor during surgery, and the ultrasonic probe can realize image visualization during the operation; the optical positioning device is used for real-time positioning to realize real-time navigation during the operation; and the force sensor is integrated to obtain real-time force feedback information and ensure the safety during the operation.

[0006] According to some embodiments of the present application, the planning of the puncture needle path based on the image data comprises the following steps: image segmentation of the image data to identify the target tumor; randomly generating a candidate path with the needle tip at the center of the target tumor based on the position of the target tumor; collision detection of the candidate path; if the candidate path does not meet the collision detection condition, returning to the step of randomly generating a candidate path with the needle tip at the center of the target tumor based on the position of the target tumor; if the candidate path meets the collision detection condition, taking the candidate path as the current path; determining whether the axial direction of the ultrasound probe is perpendicular to the surface of the body membrane under the current path; if the axial direction of the ultrasound probe is not perpendicular to the surface of the body membrane, returning to the step of randomly generating a candidate path with the needle tip at the center of the target tumor based on the position of the target tumor; if the axial direction of the ultrasound probe is perpendicular to the surface of the body membrane, taking the current path as the puncture needle path.

[0007] According to some embodiments of the present application, the optical positioning device adopts an NDI Polaris optical device; and the spatial position registration among the image data, the body membrane and the mechanical arm by the optical positioning device comprises the following steps: respectively installing workpieces trackable by the optical positioning device at the end of the mechanical arm and the surface of the body membrane; taking the coordinate system of the body membrane as a first coordinate system, the coordinate system of the image data as a second coordinate system, and the coordinate system of the mechanical arm as a third coordinate system; obtaining a first conversion matrix between the first coordinate system and the second coordinate system; obtaining a second conversion matrix between the first coordinate system and the third coordinate system; and realizing the spatial position registration among the image data, the body membrane and the mechanical arm based on the first conversion matrix and the second conversion matrix.

[0008] According to some embodiments of the present application, the spatial position registration among the image data, the body membrane and the mechanical arm by the optical positioning device further comprises the following steps: respectively calculating the errors of the first conversion matrix and the second conversion matrix; and correcting the errors.

[0009] According to some embodiments of the present application, the mechanical arm takes the needle and moves to the surface of the body membrane according to a preset path after taking the needle, and comprises the following steps: the mechanical arm moves from an initial position to a needle-taking position to take the needle, and moves to a ready position after taking the needle; the mechanical arm moves from the ready position to the surface of the body membrane according to the preset path, and in the process of movement, comprises the following steps: real-time monitoring of the moving state of the body membrane, if the moving amplitude of the body membrane is greater than a first threshold value, the mechanical arm returns to the ready position; the force sensor is turned on, and the movement force of the mechanical arm is obtained through the force sensor, if the movement force is greater than a second threshold value, the mechanical arm returns to the ready position; the ultrasonic probe is turned on to realize image visualization of the needle-planting process.

[0010] According to some embodiments of the present application, the end of the mechanical arm is provided with an indicator light; the mechanical arm takes the needle and moves to the surface of the body membrane according to a preset path after taking the needle, and further comprises the following steps: when the mechanical arm moves to a preset position, the indicator light emits light.

[0011] According to some embodiments of the present application, the mechanical arm takes the needle and moves to the surface of the body membrane according to a preset path after taking the needle, and further comprises the following steps: voice prompting is performed on the patient.

[0012] In another aspect, the surgical path planning system according to the embodiments of the present application comprises: an acquisition module for acquiring CT or MRI image data before surgery; a planning module for planning a puncture needle path according to the image data; a spatial position registration module for registering the spatial positions of the image data, the body membrane and the mechanical arm through an optical positioning device; wherein the end of the mechanical arm is provided with an ultrasonic probe and a force sensor; and a control module for controlling the mechanical arm to take the needle and move to the surface of the body membrane according to a preset path after taking the needle.

[0013] In another aspect, the electronic device according to the embodiments of the present application comprises a memory and a processor, the memory stores a computer program, and the processor implements the above surgical path planning method when executing the computer program.

[0014] In another aspect, the computer readable storage medium according to the embodiments of the present application stores a program, and the program is executed by a processor to implement the above surgical path planning method.

[0015] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the following drawings of which:

[0017] Figure 1 A flow chart of a surgical path planning method according to an embodiment of the present application;

[0018] Figure 2 A schematic diagram of a surgical path planning system according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] This part will describe the specific embodiments of the present application in detail, and the preferred embodiments of the present application are shown in the drawings, and the drawings serve to supplement the description in the text part of the specification, so that one can intuitively and visually understand each technical feature and the overall technical scheme of the present application, but it cannot be understood as a limitation on the protection scope of the present application.

[0020] In the description of the present application, one or more is meant to be one or more, more than two is meant to be two or more, greater than, less than, more than, etc. are understood to not include the number, above, below, within, etc. are understood to include the number. If it is described as first, second, it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0021] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be understood broadly, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical scheme.

[0022] As shown in the following steps: Figure 1 The surgical path planning method according to an embodiment of the present application comprises the following steps:

[0023] Step S100: Obtain preoperative CT or MRI image data.

[0024] First, before the patient is operated on, the patient needs to be scanned by CT or MRI (Magnetic Resonance Imaging) first, so as to obtain the preoperative CT or MRI image data of the patient.

[0025] Step S200: Plan a puncture needle path according to the image data.

[0026] The above step S200 specifically comprises the following 8 sub-steps:

[0027] Step S201: Image segmentation is performed on the image data to identify the target tumor.

[0028] Specifically, in order to realize image segmentation of the image data, a multi-organ segmentation algorithm can be used here, which has been disclosed in the prior application (Patent No. CN113181563A) of the applicant, and thus will not be repeated here. Through image segmentation, the human digital model of the liver, target tumor, blood vessels and bones, etc. is obtained, which is convenient for subsequent planning of the puncture needle path.

[0029] Step S202: According to the position of the target tumor, a candidate path with the needle tip located at the center of the target tumor is randomly generated.

[0030] Step S203: Collision detection is performed on the candidate path.

[0031] Step S204: If the candidate path does not meet the collision detection condition, return to step S202.

[0032] Step S205: If the candidate path meets the collision detection condition, the candidate path is taken as the current path.

[0033] Specifically, according to the clinical requirements, collision detection is performed on the randomly generated candidate path. If the candidate path collides with the bones, blood vessels and other important tissues and organs, it means that the candidate path does not meet the collision detection condition and needs to be discarded and other candidate paths are generated. If there is no collision, it means that the candidate path meets the collision detection condition, and the candidate path is retained and taken as the current path. In addition, collision detection needs to detect whether the current path passes through the artificially defined skin area where the needle can be inserted, in order to ensure the effectiveness and safety of the current path.

[0034] Step S206: Determine whether the axial direction of the ultrasound probe is perpendicular to the surface of the body membrane under the current path.

[0035] Step S207: If the axial direction of the ultrasound probe is not perpendicular to the surface of the body membrane, return to step S202.

[0036] Step S208: If the axial direction of the ultrasound probe is perpendicular to the surface of the body membrane, the current path is taken as the puncture needle path.

[0037] Specifically, an ultrasonic probe is arranged at the end of the mechanical arm of the surgical robot, and the ultrasonic probe is used to realize image visualization of the needle implanting process. Body membrane: widely used for auxiliary positioning and fixation of tumor patients receiving radiotherapy, reducing unnecessary damage to normal tissues caused by patient position movement, and improving the absorption of local lesions to rays. By detecting whether the axial direction of the ultrasonic probe is perpendicular to the surface of the patient's skin under the current path, if yes, the current path is retained and used as the puncture needle path, otherwise the candidate path is discarded and a new candidate path is randomly generated. After the above process, the puncture needle path meeting the requirements of clinical surgery and robot execution can be generated.

[0038] Step S300: Space position registration among the image data, the body membrane and the mechanical arm is performed by the optical positioning device; wherein the end of the mechanical arm is provided with the ultrasonic probe and the force sensor.

[0039] Specifically, after the puncture needle path is planned, the space positions of multiple devices participating in the surgery need to be unified in real time. The step S300 specifically includes the following 5 sub-steps:

[0040] Step S301: An optical positioning device trackable workpiece is respectively installed at the end of the mechanical arm and the surface of the body membrane.

[0041] Specifically, in the present application, the optical positioning device used is NDI Polaris optical device, and the NDI Polaris optical device has a space positioning function. In order to realize the positioning of the body membrane and the mechanical arm, two NDI Polaris optical device trackable workpieces are used, one of which is pasted on the surface of the body membrane and is used to unify the position relationship between the real human body and the image data; and the other is installed at the end of the mechanical arm and is used to unify the position relationship between the mechanical arm and the real human body.

[0042] Step S302: The coordinate system in which the body membrane is located is taken as a first coordinate system, the coordinate system in which the image data is located is taken as a second coordinate system, and the coordinate system in which the mechanical arm is located is taken as a third coordinate system.

[0043] Step S303: A first conversion matrix between the first coordinate system and the second coordinate system is obtained.

[0044] Step S304: A second conversion matrix between the first coordinate system and the third coordinate system is obtained.

[0045] Step S305: According to the first conversion matrix and the second conversion matrix, space position registration among the image data, the body membrane and the mechanical arm is realized.

[0046] Specifically, in the present application, the library function of VTK is used to obtain the conversion matrix between different coordinate systems. The coordinate system of each point coordinate collected on the body film is taken as the real human body coordinate system C R (i.e. the first coordinate system), the coordinate system of each point coordinate on the image data is taken as the virtual human body coordinate system C V (i.e. the second coordinate system), and the coordinate system of the mechanical arm is taken as the mechanical arm coordinate system C U (i.e. the third coordinate system), and then the mutual conversion relationship among the three is obtained according to the library function of VTK. For example, a plurality of registration marker points are selected in the preoperative image data, points corresponding to the registration marker points are found on the body film, and the coordinates of these points in the real space are obtained by using an optical positioning device. The position coordinates of the two sets of points in different coordinate systems but corresponding to each other are used to obtain the first conversion matrix between the first coordinate system and the second coordinate system. The first conversion matrix includes the conversion matrix T1 from the real human body coordinate system C R to the virtual human body coordinate system C V , and the conversion matrix T 11 from the virtual human body coordinate system C V to the real human body coordinate system C R . Then, the second conversion matrix between the first coordinate system and the third coordinate system is obtained in a similar manner. The second conversion matrix includes the conversion matrix T2 from the real human body coordinate system C R to the mechanical arm coordinate system C U , and the conversion matrix T 22 from the mechanical arm coordinate system C U to the real human body coordinate system C R , i.e. C V =T1*C R ; C U =T2*C R .

[0047] In addition, in order to improve the accuracy as much as possible, it is also necessary to calculate the errors of the first conversion matrix and the second conversion matrix respectively, and correct the errors. For example, a fixed point P V (x, y, z) in the virtual human body coordinate system C V is obtained through the conversion matrix to obtain a corresponding point P U (x, y, z) in the mechanical arm coordinate system, and then the coordinates of the corresponding point in the virtual human body coordinate system C V are obtained through the fixed point P U (x, y, z) in the mechanical arm coordinate system, and the calculation error Δ is calculated by calculating the distance between the two points. The calculation formula is as follows:

[0048] P V1 (x, y, z) = P V(x, y, z) * T 11 *T2 * T 22 *T1

[0049] Delta = |P V1 (x, y, z) - P V (x, y, z) |.

[0050] By the above method, the spatial position registration among the image data, the body film and the mechanical arm is realized.

[0051] Step S400: the mechanical arm takes the needle and moves to the surface of the body film according to a preset path after taking the needle.

[0052] The step S400 specifically includes the following two sub-steps:

[0053] Step S401: the mechanical arm moves from the initial position to the needle taking position to take the needle, and moves to the ready position after taking the needle.

[0054] Specifically, after the spatial position registration is completed, the mechanical arm starts to move from the initial position to the position of the needle rack to take down the ablation needle from the needle rack. Considering that the simulation is currently based on the abdominal body film, the designed needle rack structure can place three needles, and the needle rack is installed at a position fixed relative to the mechanical arm, which is used to implement the automatic needle taking action. At the same time, in order to facilitate the needle taking action of the mechanical arm, a gripper structure is arranged at the end of the mechanical arm, which is used to grab the ablation needle. Considering the relative placement position and height relationship among the mechanical arm, the operating table and the needle rack structure in the actual scene, in order to ensure the safety of the movement of the mechanical arm, the automatic needle taking process of the mechanical arm is planned, which starts from the initial position and returns to the ready position after taking the needle. The initial position and the ready position here are relatively safe positions relative to the operating table, the body film, the needle rack and the mechanical arm.

[0055] Step S402: the mechanical arm moves from the ready position to the surface of the body film according to a preset path, and in the movement process, the following steps are included:

[0056] Real-time monitoring of the moving state of the body film, if the moving amplitude of the body film is greater than a first threshold value, the mechanical arm returns to the ready position;

[0057] Turning on the force sensor, and acquiring the movement force of the mechanical arm through the force sensor, if the movement force is greater than a second threshold value, the mechanical arm returns to the ready position;

[0058] Turning on the ultrasonic probe to realize the image visualization of the needle implanting process.

[0059] Specifically, in the process of moving the mechanical arm to the surface of the body membrane according to the preset path by the ready position, in order to follow the principle of ensuring safety and effective movement, and considering the breathing and non-static nature of the real human body, the entire movement process is divided into four stages, and the movement state of the body model is monitored in real time in each stage to simulate human movement or breathing. According to the proportion of the preset path, the entire process is divided into 30% proportion stage, 70% proportion stage, 90% proportion stage and 100% proportion stage.

[0060] 30% stage, which is called hesitation period, the body model movement state real-time monitoring is started in this stage, to judge whether the body model has large amplitude movement (simulate whether the human body is in breathing state, movement, etc.). Considering the breathing state of the patient in actual clinic, we set the boundary condition here, taking the normal breathing peak value as the boundary, when the detected value amplitude exceeds the boundary value, it is considered that the breathing abnormality or movement state occurs, the mechanical arm needs to retreat to the ready position, and the action is ended. If the boundary condition is not exceeded, the mechanical arm continues to move normally.

[0061] 70% stage, in this stage, the body membrane movement state is also detected in real time, if the body membrane has large amplitude movement, the mechanical arm retreats to the ready position and waits. Otherwise, the mechanical arm continues to move normally according to the preset path, and the force sensor is started to detect whether there is an obstacle in the movement process. The safety movement force of the mechanical arm is set to 8N (the specific value is not limited), when the force exceeds 8N, it is judged that an obstacle is encountered, that is, there is a safety risk, the mechanical arm retreats to the ready position and the operation is ended. Otherwise, the mechanical arm slowly moves along the preset path to the target position at a safe force value when it approaches the surface of the body model. At the same time, an indicator light is also arranged at the end of the mechanical arm, when the indicator light is on, it means that the mechanical arm reaches the target position. The robot system integrates force sensors to collect the force of the gripper and the ultrasonic probe, with six degrees of freedom {F x , F y , F z , T x , T y , T z} force feedback information, representing the force and torque information in each direction of the coordinate axis. The default value of the force sensor is {-1.72, -5.51, -14.48, -0.093, 0.071, 1.206}, based on this default value, the vector length of the force is calculated: F 3D = sqrt(F x 2 +F y 2 +F z 2), the corresponding default value is 15.588. The robot system determines whether an obstacle is encountered by calculating the length of the force vector, and determines whether an abnormality is actually encountered by setting whether a change in a certain axis vector exceeds 20 N within 200 milliseconds. In force feedback information testing for various abnormal conditions of the robot system, we find that:

[0062] 1. Normal state: triggered when the length of the force vector changes by 2.0 N, which is equivalent to the force of a finger touching the robot arm.

[0063] 2. To the body surface, on the body surface, and needle withdrawal state: triggered when the length of the force vector changes by more than 8.0 N, indicating that the force information is too large, and the robot arm will automatically retreat to a safe position.

[0064] 3. When the length of the force vector changes in the range of 5 to 6.5 (i.e., the absolute value of the current length of the force vector minus 15.588), the force is safe and the ultrasonic probe is arranged at the optimal position.

[0065] 90% stage, the last safety stage before surgery, this stage is about to perform an ablation implantation action, here the ultrasonic probe is turned on for real-time image visualization in the subsequent implantation process, and force feedback information of the implantation process is detected in real time through the force sensor. Here, in order to improve the accuracy of the implantation process, voice prompts such as holding breath and exhaling are provided for voice prompting to the patient, further improving the surgical effect.

[0066] 100% stage, the robot arm reaches the body membrane surface and completes the implantation of the needle.

[0067] Step S500: implanting the needle according to the puncture needle path.

[0068] After the robot arm completes the implantation of the needle, the doctor can implant the needle according to the pre-planned puncture needle, and after the entire implantation process is completed, the robot arm releases the clamping jaw and automatically retreats to the ready position, waiting for the next needle insertion.

[0069] According to the surgical path planning method of the present application, an ultrasonic device is used to replace CT imaging in surgery, which can reduce the radiation received by the patient and the doctor during surgery, and the ultrasonic probe can realize image visualization during the surgery process; the optical positioning device is used for real-time positioning to realize real-time navigation during surgery; the force sensor is integrated to obtain force feedback information in real time, ensuring safety during surgery.

[0070] On the other hand, as shown in Figure 2 , the surgical path planning system according to the present application comprises:

[0071] The acquisition module 100 is configured to acquire CT or MRI image data before surgery.

[0072] A planning module 200 is configured to plan a puncture needle path according to the image data;

[0073] A spatial position registration module 300 is configured to register spatial positions among the image data, the body membrane and the mechanical arm through an optical positioning device, wherein the end of the mechanical arm is provided with an ultrasound probe and a force sensor;

[0074] A control module 400 is configured to control the mechanical arm to take the needle and move to the surface of the body membrane according to the preset path after taking the needle.

[0075] According to the surgical path planning system, the ultrasound device is used to replace CT imaging in the surgery, so that the radiation received by the patient and the doctor in the surgery can be reduced, and the ultrasound probe can realize image visualization in the surgery process; the optical positioning device is used for real-time positioning, so that real-time navigation in the surgery can be realized; the force sensor is integrated, so that the force feedback information can be acquired in real time, and the safety in the surgery can be ensured.

[0076] In another aspect, the present application also provides an electronic device, comprising a memory and a processor, the memory stores a computer program, and the processor realizes the surgical path planning method described above when executing the computer program.

[0077] In another aspect, the present application also provides a computer readable storage medium, which stores a program, and the program is executed by a processor to realize the surgical path planning method described above.

[0078] Although specific implementations are described herein, one of ordinary skill in the art will recognize that many other modifications or alternative implementations can be made within the scope of the present disclosure. For example, any of the functions and / or processing capabilities described in connection with a particular device or component can be performed by any other device or component. Additionally, while various example implementations and architectures have been described in accordance with implementations of the present disclosure, one of ordinary skill in the art will recognize that many other modifications to the example implementations and architectures described herein are within the scope of the present disclosure.

[0079] Certain aspects of the present disclosure are described above with reference to block and flow diagrams of systems, methods, systems, and / or computer program products according to example implementations. It will be understood that one or more blocks of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and flow diagrams, can be implemented by

[0080] Accordingly, blocks in the block diagrams and flowchart illustrations, and combinations of blocks in the block diagrams and flowchart illustrations, support combinations of the means for performing the specified functions, combinations of elements and steps for performing the specified functions, and combinations of the program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams and flowchart illustrations, and combinations of blocks in the block diagrams and flowchart illustrations, can be implemented by special purpose hardware-based computer systems which perform the specified functions either alone or in combination with other

[0081] The program modules, applications, and the like described herein can include one or more software components, including, for example, software objects, methods, data structures, and the like. Each such software component can include computer-executable instructions that, in response to execution by a computer, cause at least a portion of the functionality described herein (e.g., one or more operations of the example methods described herein) to be performed.

[0082] Software components can be encoded in any of a variety of programming languages. One example programming language can be a low-level programming language such as an assembly language associated with a particular hardware architecture and / or operating system platform. Software components including assembly language instructions can need to be translated by an assembler into executable machine code before execution by the hardware architecture and / or platform. Another example programming language can be a higher-level programming language that can be portable across multiple architectures. Software components including a higher-level programming language can need to be translated by an interpreter or compiler into an intermediate representation before execution. Other examples of programming languages include, but are not limited to, a macro language, a shell or command language, a job control language, a script language, a database query or search language, or a report writing language. In one or more example embodiments, a software component including instructions of one of the above examples of programming languages can be executed directly by an operating system or other software component without first being translated into another form.

[0083] Software components can be stored as files or other data storage constructs. Software components of similar type or related function can be stored together in a particular directory, folder, or library, for example. Software components can be static (e.g., preset or fixed) or dynamic (e.g., created or modified at execution time).

[0084] The embodiments of the present application described above with reference to the accompanying drawings are merely exemplary and are not intended to limit the present application. Various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.

Claims

1. A surgical pathway planning system, characterized by, The application relates to a surgical path planning method and device. The application comprises: an acquisition module for acquiring preoperative CT or MRI image data; a planning module for planning a puncture needle path according to the image data; a spatial position registration module for registering the image data, a body membrane and a mechanical arm through an optical positioning device; wherein an end of the mechanical arm is provided with an ultrasonic probe and a force sensor; a control module for controlling the mechanical arm to take a needle and move to the surface of the body membrane according to a preset path after taking the needle; The movement process of the mechanical arm from the ready position to the surface of the body membrane according to the preset path is divided into the following four stages, and the movement state of the body membrane is monitored in real time in each stage to simulate human movement or respiration: In the 30% stage, the movement state of the body membrane is monitored in real time, and if the movement amplitude of the body membrane is greater than a first threshold value, the mechanical arm returns to the ready position; the first threshold value is bounded by a normal breathing peak value; In the 70% stage, the force sensor is started, and the movement force of the mechanical arm is acquired through the force sensor, and if the movement force is greater than a second threshold value, the mechanical arm returns to the ready position; In the 90% stage, the ultrasonic probe is started, and is used for real-time image visualization in the subsequent implantation process, and the force feedback information of the implantation process is detected in real time through the force sensor; 2.An electronic device comprising a memory and a processor, the memory storing a computer program, wherein, In the 100% stage, the mechanical arm reaches the surface of the body membrane, and the implantation of the needle is completed. The processor executes the computer program to realize the following surgical path planning method: acquiring preoperative CT or MRI image data; planning a puncture needle path according to the image data; registering the image data, a body membrane and a mechanical arm through an optical positioning device; wherein an end of the mechanical arm is provided with an ultrasonic probe and a force sensor; the mechanical arm takes a needle and moves to the surface of the body membrane according to a preset path after taking the needle; implanting a needle according to the puncture needle path; The movement process of the mechanical arm from the ready position to the surface of the body membrane according to the preset path is divided into the following four stages, and the movement state of the body membrane is monitored in real time in each stage to simulate human movement or respiration: In the 30% stage, the movement state of the body membrane is monitored in real time, and if the movement amplitude of the body membrane is greater than a first threshold value, the mechanical arm returns to the ready position; the first threshold value is bounded by a normal breathing peak value; In the 70% stage, the force sensor is started, and the movement force of the mechanical arm is acquired through the force sensor, and if the movement force is greater than a second threshold value, the mechanical arm returns to the ready position; In the 90% stage, the ultrasonic probe is started, and is used for real-time image visualization in the subsequent implantation process, and the force feedback information of the implantation process is detected in real time through the force sensor; 3. The electronic device of claim 2, wherein, In the 100% stage, the mechanical arm reaches the surface of the body membrane, and the implantation of the needle is completed. The planning of the puncture needle path according to the image data comprises the following steps: image segmentation is performed on the image data to identify a target tumor; a candidate path with a needle tip located at the center of the target tumor is randomly generated according to the position of the target tumor; collision detection is performed on the candidate path; If the candidate path does not satisfy the collision detection condition, returning to the step of randomly generating a candidate path with the needle tip located at the center of the target tumor according to the position of the target tumor; If the candidate path satisfies the collision detection condition, taking the candidate path as the current path; Judging whether the axial direction of the ultrasound probe is perpendicular to the surface of the body membrane under the current path; If the axial direction of the ultrasound probe is not perpendicular to the surface of the body membrane, returning to the step of randomly generating a candidate path with the needle tip located at the center of the target tumor according to the position of the target tumor; If the axial direction of the ultrasound probe is perpendicular to the surface of the body membrane, taking the current path as the puncture needle path.

4. The electronic device of claim 2, wherein, The optical positioning device adopts an NDI Polaris optical device; the space position registration among the image data, the body membrane and the mechanical arm by the optical positioning device comprises the following steps: Respectively installing workpieces trackable by the optical positioning device at the end of the mechanical arm and the surface of the body membrane; Taking the coordinate system of the body membrane as a first coordinate system, the coordinate system of the image data as a second coordinate system, and the coordinate system of the mechanical arm as a third coordinate system; Obtaining a first conversion matrix between the first coordinate system and the second coordinate system; Obtaining a second conversion matrix between the first coordinate system and the third coordinate system; According to the first conversion matrix and the second conversion matrix, realizing the space position registration among the image data, the body membrane and the mechanical arm.

5. The electronic device of claim 4, wherein, The space position registration among the image data, the body membrane and the mechanical arm by the optical positioning device further comprises the following steps: Respectively calculating errors of the first conversion matrix and the second conversion matrix; Correcting the errors.

6. The electronic device of claim 5, wherein, The end of the mechanical arm is provided with an indicator light; the mechanical arm takes the needle and moves to the surface of the body membrane according to a preset path after taking the needle, and further comprises the following steps: When the mechanical arm moves to a preset position, the indicator light emits light.

7. The electronic device of claim 5, wherein, The mechanical arm takes the needle and moves to the surface of the body membrane according to a preset path after taking the needle, and further comprises the following steps: Giving voice prompts to the patient.

8. A computer-readable storage medium, the storage medium having stored thereon a program, characterized in that, The program is executed by the processor to realize the surgical path planning method of any one of claims 2 to 7.

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