Magnetic probe assisted bronchoscopic navigation method and device, medium and electronic equipment

Abstract

This invention provides a method, device, medium, and electronic device for intraoperative navigation of the bronchi assisted by a magnetic probe. The method includes acquiring three-dimensional scan images of the bronchus to establish a three-dimensional virtual model and plan a navigation path; collecting magnetic probe data by traversing the two major branches of the bronchus using a magnetic probe, and extracting the two major branches; performing coarse registration between the two major branches and the magnetic probe data, and converting the magnetic probe data to a CT coordinate system; determining the position of the magnetic probe in the bronchus, and navigating the diagnostic and treatment equipment along the navigation path; acquiring magnetic probe data in real time, performing real-time registration of the bronchial branches, and converting the magnetic probe data to a CT coordinate system based on the real-time registration matrix, and navigating the diagnostic and treatment equipment along the navigation path to the target point. Applying this method for intraoperative navigation of the bronchi allows for navigation based on real-time registration results, real-time correction of navigation errors, and high navigation accuracy.

Description

Technical Field

[0001] This invention relates to the field of medical device navigation technology, and in particular to a magnetic probe-assisted intraoperative navigation method, device, medium and electronic equipment for bronchial surgery. Background Technology

[0002] Endoscopic lung nodule biopsy is an important method for lung cancer screening. Before the endoscopy, the doctor first performs a three-dimensional computed tomography (CT) scan on the patient to obtain the morphology and location of tissues such as the lungs and bronchi, as well as the morphology and location of lung nodules. Then, during the endoscopy, the doctor manipulates the endoscope to navigate to the desired location of the lung nodule.

[0003] However, during endoscopic navigation, surgeons do not have a direct correlation between the 3D CT images and the actual endoscopic images. The navigation process is essentially a blind procedure, heavily reliant on the surgeon's experience and endoscopic skills. This inherent uncertainty limits the success rate of the surgery. Therefore, it is necessary to provide a new intraoperative navigation method for bronchial procedures to address these issues. Summary of the Invention

[0004] The purpose of this invention is to provide a magnetic probe-assisted intraoperative navigation method, device, medium, and electronic device to solve the problem that there is no actual positional correlation between three-dimensional CT images and real endoscopic images.

[0005] In a first aspect, the present invention provides a magnetic probe-assisted intraoperative bronchial navigation method, comprising: acquiring a three-dimensional scan image of the bronchus; establishing a three-dimensional virtual model based on the three-dimensional scan image; planning a navigation path to a target point based on the three-dimensional virtual model; traversing the two major branches of the bronchus with a magnetic probe, collecting magnetic probe data of the two major branches, and extracting the two major branches of the bronchus; performing coarse registration between the extracted two major branches of the bronchus and the magnetic probe data, and converting the magnetic probe data to a CT coordinate system based on the coarse registration matrix obtained by the coarse registration; determining the position of the magnetic probe in the bronchus, and navigating the diagnostic and treatment equipment along the navigation path; obtaining magnetic probe data by real-time data acquisition with the magnetic probe, performing real-time registration of the bronchial branches, and converting the magnetic probe data to a CT coordinate system based on the real-time registration matrix obtained by the real-time registration, and navigating the diagnostic and treatment equipment along the navigation path until reaching the target point.

[0006] The beneficial effects of the magnetic probe-assisted intraoperative navigation method for bronchial surgery provided by this invention are as follows: The magnetic probe can acquire the specific position of surgical instruments in an electromagnetic coordinate system. Aligning the data acquired by the magnetic probe with the CT coordinate system yields the specific position of the surgical instruments in the CT coordinate system. Transforming the position of the surgical instruments in the CT coordinate system to the world coordinate system provides their specific position under the patient's organs, thus enabling intraoperative navigation to be guided according to the preoperatively planned navigation path. Applying this method for intraoperative bronchial navigation eliminates the need for additional marking of the navigation path, provides high navigation accuracy, and allows for real-time navigation, enabling real-time correction of navigation errors and improving the success rate of the surgery.

[0007] In one possible embodiment, magnetic probe data is obtained by real-time acquisition of data using the magnetic probe, and bronchial branches are registered in real-time. This includes: obtaining magnetic probe data by real-time acquisition of data using the magnetic probe; converting the magnetic probe data to the CT coordinate system according to the coarse registration matrix; mapping each magnetic probe data point in the CT coordinate system to a branch in the bronchial branch to determine the registration branch; finding the shortest distance point from the magnetic probe data point to the registration branch; pairing the magnetic probe data point with the corresponding shortest distance point as a pairing point; and registering all paired points using a point cloud registration algorithm.

[0008] In another possible embodiment, the coarse registration matrix obtained based on coarse registration transforms the magnetic probe data to the CT coordinate system in accordance with the following formula: Where R represents the optimal rotation transformation matrix, t represents the optimal translation transformation matrix, and n represents the number of data points acquired by the magnetic probe. p represents the current rotation matrix. i This represents the i-th point in the data collected by the magnetic probe. Let q represent the current translation matrix. i This represents the i-th point on the navigation path.

[0009] In other possible embodiments, coarse registration of the extracted two major branches of the bronchus with the magnetic probe data further includes: using the mean square error as the metric function of the coarse registration and using a gradient-based optimization algorithm as the optimization method for the coarse registration.

[0010] The process of establishing a 3D virtual model based on the 3D scanned image and planning a navigation path based on the 3D virtual model includes: segmenting the bronchi based on the 3D scanned image; performing 3D reconstruction of the bronchi to establish a 3D virtual model; extracting the centerline of the 3D virtual model and traversing the centerline to generate a bronchial tree; identifying nodules in the bronchi based on the 3D scanned image and performing 3D reconstruction of the nodules; and planning a navigation path based on the location of the nodules and the bronchial tree.

[0011] In a second aspect, the present invention also provides a magnetic probe-assisted intraoperative bronchial navigation device, comprising:

[0012] The path planning unit is used to acquire a three-dimensional scan image of the bronchus, establish a three-dimensional virtual model based on the three-dimensional scan image, and plan a navigation path to the target point based on the three-dimensional virtual model.

[0013] The acquisition unit is used to traverse the two main branches of the bronchus with a magnetic probe, acquire magnetic probe data of the two main branches, and extract the two main branches of the bronchus.

[0014] The coarse registration unit is used to coarsely register the extracted two major branches of the bronchus with the magnetic probe data, and to convert the magnetic probe data to the CT coordinate system based on the coarse registration matrix obtained by coarse registration.

[0015] The first navigation unit is used to determine the position of the magnetic probe in the bronchus and navigate the diagnostic and treatment equipment along the navigation path;

[0016] The second navigation unit is used to acquire magnetic probe data in real time through the magnetic probe, register the bronchial branches in real time, and convert the magnetic probe data to the CT coordinate system based on the real-time registration matrix obtained by real-time registration, and navigate the diagnostic and treatment equipment along the navigation path until the target point is reached.

[0017] The second navigation unit obtains magnetic probe data through real-time data acquisition by the magnetic probe and performs real-time registration of bronchial branches. Specifically, it is used to: obtain magnetic probe data through real-time data acquisition by the magnetic probe; convert the magnetic probe data to the CT coordinate system according to the coarse registration matrix; map the magnetic probe data points in the CT coordinate system to a certain branch in the bronchial branch one by one to determine the registration branch; find the shortest distance point from the magnetic probe data point to the registration branch; and set the magnetic probe data point and the corresponding shortest distance point as a pairing point; and perform registration on all the pairing points using a point cloud registration algorithm.

[0018] The coarse registration matrix obtained based on coarse registration transforms the magnetic probe data to the CT coordinate system, satisfying the following formula: Where R represents the optimal rotation transformation matrix, t represents the optimal translation transformation matrix, and n represents the number of data points acquired by the magnetic probe. p represents the current rotation matrix. i This represents the i-th point in the data collected by the probe. Let q represent the current translation matrix. i This represents the i-th point on the navigation path.

[0019] The process of coarsely registering the extracted two major branches of the bronchus with the magnetic probe data further includes: using the mean square error as the metric function for the coarse registration and using a gradient-based optimization algorithm as the optimization method for the coarse registration.

[0020] The process of establishing a 3D virtual model based on the 3D scanned image and planning a navigation path based on the 3D virtual model includes: segmenting the bronchi based on the 3D scanned image; performing 3D reconstruction of the bronchi to establish a 3D virtual model; extracting the centerline of the 3D virtual model and traversing the centerline to generate a bronchial tree; identifying nodules in the bronchi based on the 3D scanned image and performing 3D reconstruction of the nodules; and planning a navigation path based on the location of the nodules and the bronchial tree.

[0021] Thirdly, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0022] Fourthly, the present invention also provides an electronic device, comprising: a processor and a memory; the memory being used to store a computer program; the processor being used to execute the computer program stored in the memory to cause the electronic device to perform the above-described method.

[0023] For the beneficial effects of the second to fourth aspects mentioned above, please refer to the description of the first aspect mentioned above. Attached Figure Description

[0024] Figure 1 A schematic flowchart of the magnetic probe-assisted intraoperative navigation method for bronchial surgery provided in an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of a three-dimensional virtual model provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram showing the result of centerline extraction of a three-dimensional virtual model provided in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of a navigation path planned based on the location of the nodules and the bronchial tree, provided for an embodiment of the present invention.

[0028] Figure 5 This is a structural schematic diagram of the magnetic probe setting position provided in an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram illustrating the registration of data acquired by the magnetic probe and the extracted bronchial structure provided in an embodiment of the present invention.

[0030] Figure 7This is a schematic diagram of the structure of the magnetic probe-assisted intraoperative navigation device for bronchial surgery provided in an embodiment of the present invention;

[0031] Figure 8 This is a schematic diagram of an electronic device structure provided in an embodiment of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, but do not exclude other elements or objects.

[0033] To address the problems existing in the prior art, embodiments of the present invention provide a magnetic probe-assisted intraoperative navigation method, device, medium, and electronic device for bronchial surgery, in order to solve the problem that there is no actual positional correlation between three-dimensional CT images and real endoscopic images.

[0034] This embodiment provides a magnetic probe-assisted intraoperative navigation method for bronchial procedures. See the appendix to the instruction manual. Figure 1 The method includes:

[0035] S1: Obtain a 3D scan image of the bronchus, build a 3D virtual model based on the 3D scan image, and plan a navigation path to the target point based on the 3D virtual model.

[0036] In S1, in one possible embodiment, after acquiring a three-dimensional scan image of the bronchus, the quality of the three-dimensional scan image is evaluated. The criteria for evaluating the quality of the three-dimensional scan image include: whether the three-dimensional scan image includes the tracheal inlet and the entire lung region, and whether the resolution meets the set standards.

[0037] In one specific embodiment, the three-dimensional scan image is required to include the tracheal inlet and the entire lung region, with a resolution of less than 0.8 mm. A three-dimensional virtual model is then established based on the three-dimensional scan image that meets the quality assessment requirements.

[0038] In one possible embodiment, a three-dimensional virtual model is established based on a three-dimensional scan image, and a navigation path is planned based on the three-dimensional virtual model, including: segmenting the bronchi based on the three-dimensional scan image; performing three-dimensional reconstruction of the bronchi to establish a three-dimensional virtual model; extracting the centerline of the three-dimensional virtual model and traversing the centerline to generate a bronchial tree; identifying nodules in the bronchi based on the three-dimensional scan image and performing three-dimensional reconstruction of the nodules; and planning a navigation path based on the location of the nodules and the bronchial tree.

[0039] In one possible embodiment, after establishing the three-dimensional virtual model, the surface of the three-dimensional virtual model is smoothed to make the three-dimensional virtual model more similar to the real bronchus.

[0040] In one possible embodiment, there are several ways to identify nodules in the bronchus based on three-dimensional scan images. For example, nodules can be identified using deep learning or traditional image processing, or nodules can be identified using an interactive method that specifies a point on the nodule based on the three-dimensional scan image, or the overall shape and location of the nodule can be identified based on an algorithm given the outer edge shape of a certain cross-section of the nodule, etc.

[0041] In one possible embodiment, both the three-dimensional reconstruction of the bronchus and the three-dimensional reconstruction of the nodules are completed using the moving cube isoplanar reconstruction method.

[0042] In one specific embodiment, the location of the nodule is used as the target point, and a navigation path is planned based on the location of the nodule and the bronchial tree, including: selecting a feasible path to the nodule on the bronchial tree based on the location of the nodule; and selecting the shortest path among the feasible paths as the navigation path.

[0043] In one specific embodiment, a navigation path is generated by combining human-computer interaction with the bronchial topology. That is, the navigation path is planned by manually specifying the navigation path on the bronchial topology, which makes the navigation path planning more flexible.

[0044] In one possible embodiment, the three-dimensional scan image is a three-dimensional CT image.

[0045] In one specific embodiment, a schematic diagram of the three-dimensional virtual model obtained by three-dimensional reconstruction of the bronchus according to the magnetic probe-assisted intraoperative bronchial navigation method provided by the present invention is shown below. Figure 2 As shown, the result of centerline extraction of the 3D virtual model is as follows: Figure 3 As shown, the navigation path planned based on the location of the nodule and the bronchial tree is as follows: Figure 4 As shown.

[0046] S2: By traversing the two major branches of the bronchus with a magnetic probe, magnetic probe data of the two major branches are collected, and the two major branches of the bronchus are extracted.

[0047] See the instruction manual appendix Figure 5 In S2, in one possible embodiment, the magnetic probe 501 is attached to the end of the sheath 502, and the sheath 502 and the magnetic probe 501 are inserted into the bronchus to collect magnetic probe data by traversing the two major branches of the bronchus.

[0048] For example, the magnetic probe 501 is attached to the left and right sides of the end of the sheath 502.

[0049] In one possible embodiment, other navigation equipment used in the surgery is also inserted into the bronchus along with the sheath and magnetic probe.

[0050] In one possible embodiment, the two major branches of the bronchus include the main airway and secondary branches.

[0051] S3: Perform coarse registration between the extracted two major branches of the bronchus and the magnetic probe data, and transform the magnetic probe data into the CT coordinate system based on the coarse registration matrix obtained from the coarse registration.

[0052] In S3, one possible embodiment involves coarsely registering the extracted two major branches of the bronchi with the magnetic probe data. This further includes using the mean square error as a metric for coarse registration and a gradient-based optimization algorithm as an optimization method for coarse registration. Optionally, other metrics and optimization methods capable of performing registration can also be applied.

[0053] The coarse registration matrix obtained based on the coarse registration transforms the magnetic probe data of the two main branches into the CT coordinate system, satisfying the following formula: Where R represents the optimal rotation transformation matrix, t represents the optimal translation transformation matrix, and n represents the number of data points acquired by the magnetic probe. p represents the current rotation matrix. i This represents the i-th point in the data collected by the magnetic probe. Let q represent the current translation matrix. i This represents the i-th point on the navigation path.

[0054] In one possible embodiment, the magnetic probe data includes M data points, and the navigation path includes M data points, where M is a positive integer.

[0055] In one possible embodiment, the specific transformation methods for converting the magnetic probe data to the CT coordinate system based on the coarse registration results of the two major branches of the bronchus and the magnetic probe data include translation, rotation, and scaling.

[0056] S4: Determine the position of the magnetic probe in the bronchus and navigate the diagnostic and treatment equipment along the navigation path.

[0057] In S4, in one possible embodiment, a magnetic probe can be used to obtain the specific position of the surgical instrument in the electromagnetic coordinate system. By aligning the data collected by the magnetic probe with the CT coordinate system, the specific position of the surgical instrument in the CT coordinate system can be obtained, thereby enabling navigation of the diagnostic and treatment equipment along the navigation path.

[0058] In one possible embodiment, the diagnostic device includes a sheath and other navigation devices for surgical applications, with a magnetic probe attached to the diagnostic device.

[0059] S5: The magnetic probe data is acquired in real time through the magnetic probe, the bronchial branches are registered in real time, and the magnetic probe data is converted to the CT coordinate system based on the real-time registration matrix obtained by the real-time registration. The diagnostic and treatment equipment is then navigated along the navigation path until the target point is reached.

[0060] In S5, in one possible embodiment, magnetic probe data is obtained by real-time acquisition of data using a magnetic probe, and bronchial branches are registered in real-time. This includes: obtaining magnetic probe data by real-time acquisition of data using a magnetic probe; converting the magnetic probe data to the CT coordinate system according to a coarse registration matrix; mapping each magnetic probe data point in the CT coordinate system to a branch in the bronchial branch to determine the registration branch; finding the shortest distance point from the magnetic probe data point to the registration branch; and pairing the magnetic probe data point with the corresponding shortest distance point as a pairing point; and registering all paired points using a point cloud registration algorithm.

[0061] In one specific embodiment, magnetic probe data is acquired in real time using a magnetic probe. This data is then transformed to the CT coordinate system using a coarse registration matrix, resulting in transformed data in the CT coordinate system. Each magnetic probe data point in the transformed data is mapped to a branch within the bronchus to determine the registration branch. The shortest distance point between each magnetic probe data point and the corresponding shortest distance point is found, and these points are paired as a set of matching points. A point cloud registration algorithm is then used to perform real-time registration on all paired points. The real-time registration matrix obtained from this real-time registration is then used to transform the transformed data back to the CT coordinate system, and the diagnostic equipment is navigated along a navigation path.

[0062] See the instruction manual appendix Figure 6 In the magnetic probe-assisted intraoperative navigation method of the present invention, when registering the data collected by the magnetic probe and the extracted bronchial structure, a coarse registration is first performed, and then a real-time registration is performed based on the coarse registration result. This allows the real-time registration to be performed when the deviation between the data collected by the magnetic probe and the extracted bronchial structure is small, which is beneficial to achieving high-precision real-time navigation and high navigation accuracy.

[0063] The magnetic probe-assisted intraoperative navigation method for bronchial surgery provided by this invention has the following beneficial effects: The magnetic probe can acquire the specific position of surgical instruments in an electromagnetic coordinate system. Aligning the data acquired by the magnetic probe with the CT coordinate system yields the specific position of the surgical instruments in the CT coordinate system. Transforming the position of the surgical instruments in the CT coordinate system to the world coordinate system provides their specific position under the patient's organs, thus enabling intraoperative navigation to be guided according to the preoperatively planned navigation path. Applying this method for intraoperative bronchial navigation does not require additional marking of the navigation path, offers high navigation accuracy, and allows for real-time navigation, enabling real-time correction of navigation errors and improving the success rate of the surgery.

[0064] See the instruction manual appendix Figure 7 This embodiment also provides a magnetic probe-assisted intraoperative bronchial navigation device, which includes:

[0065] The path planning unit 701 is used to acquire a three-dimensional scan image of the bronchus, establish a three-dimensional virtual model based on the three-dimensional scan image, and plan a navigation path to the target point based on the three-dimensional virtual model.

[0066] The acquisition unit 702 is used to traverse the two major branches of the bronchus with a magnetic probe, acquire magnetic probe data of the two major branches, and extract the two major branches of the bronchus.

[0067] The coarse registration unit 703 is used to coarsely register the extracted two major branches of the bronchus with the magnetic probe data, and to convert the magnetic probe data to the CT coordinate system based on the coarse registration matrix obtained by coarse registration.

[0068] The first navigation unit 704 is used to determine the position of the magnetic probe in the bronchus and to navigate the diagnostic and treatment equipment along the navigation path.

[0069] The second navigation unit 705 is used to acquire magnetic probe data in real time through the magnetic probe, register the bronchial branches in real time, and convert the magnetic probe data to the CT coordinate system based on the real-time registration matrix obtained by real-time registration, and navigate the diagnostic and treatment equipment along the navigation path until the target point is reached.

[0070] All relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0071] In other embodiments of this application, an electronic device is disclosed, such as... Figure 8As shown, the electronic device 800 may include: one or more processors 801; a memory 802; a display 803; one or more application programs (not shown); and one or more computer programs 804. These devices can be connected via one or more communication buses 805. The one or more computer programs 804 are stored in the memory 802 and configured to be executed by the one or more processors 801. The one or more computer programs 804 include instructions that can be used to perform actions such as... Figure 1 And the steps in the corresponding embodiments.

[0072] Through the above description of the embodiments, those skilled in the art will clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0073] In the embodiments of this application, the functional units can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0074] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as flash memory, portable hard disk, read-only memory, random access memory, magnetic disk, or optical disk.

[0075] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A magnetic probe assisted bronchoscopic intraoperative navigation device, characterized in that, Comprise: A path planning unit for obtaining a three-dimensional scan image of a bronchus, establishing a three-dimensional virtual model according to the three-dimensional scan image, and planning a navigation path to a target point according to the three-dimensional virtual model; A collection unit for traversing two main branches of the bronchus by a magnetic probe, collecting magnetic probe data of the two main branches, and extracting two main branches of the bronchus; A coarse registration unit for coarsely registering the extracted two main branches of the bronchus with the magnetic probe data, and converting the magnetic probe data to a CT coordinate system based on a coarse registration matrix obtained by coarse registration; A first navigation unit for determining the position of the magnetic probe in the bronchus, and navigating a diagnosis and treatment device along the navigation path; A second navigation unit for collecting magnetic probe data by the magnetic probe in real time, real-time registering bronchus branches, converting the magnetic probe data to the CT coordinate system based on a real-time registration matrix obtained by real-time registration, and navigating the diagnosis and treatment device along the navigation path until the target point is reached; Wherein, the second navigation unit collects magnetic probe data by the magnetic probe in real time, real-time registers bronchus branches, and is specifically used for: collecting magnetic probe data by the magnetic probe in real time, converting the magnetic probe data to the CT coordinate system according to the coarse registration matrix; mapping the magnetic probe data points in the CT coordinate system to a certain branch in the bronchus branch by branch to determine a registration branch, finding the shortest distance point of the magnetic probe data point to the registration branch, and taking the magnetic probe data point and the corresponding shortest distance point as a pair of points; registering all pairs of points using a point cloud registration algorithm; and Wherein, the conversion of the magnetic probe data to the CT coordinate system based on the coarse registration matrix satisfies the following formula: wherein, represents the optimal rotation transformation matrix, represents the optimal translation transformation matrix, represents the number of magnetic probe acquisition data, represents the current rotation matrix, represents the i-th point in the magnetic probe acquisition data, represents the current translation matrix, represents the i-th point on the navigation path.

2. The apparatus of claim 1, wherein, The coarse registration of the extracted two main branches of the bronchus with the magnetic probe data further comprises: Using mean square error as the metric function of the coarse registration, and using a gradient-based optimization algorithm as the optimization method of the coarse registration.

3. The apparatus of claim 1, wherein, Establishing a three-dimensional virtual model according to the three-dimensional scan image, and planning a navigation path according to the three-dimensional virtual model, comprises: Segmenting the bronchus according to the three-dimensional scan image; Performing three-dimensional reconstruction of the bronchus to establish the three-dimensional virtual model; Extracting the centerline of the three-dimensional virtual model, and traversing the centerline to generate a bronchus tree; Identifying nodules in the bronchus according to the three-dimensional scan image, and performing three-dimensional reconstruction of the nodules; Planning a navigation path according to the positions of the nodules and the bronchus tree.

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