A bronchoscope robot simulation platform and method based on VTK

Abstract

The present application relates to the field of robot simulation and control technology, in particular to a bronchoscope robot simulation control platform and method based on VTK, which is suitable for structure modeling, motion control, virtual simulation and the like of continuum robots (such as bronchoscope robots), and can be widely applied to the fields of medical robot simulation, surgical training and robot control algorithm verification and the like. Firstly, the platform uses voxel modeling technology to model the bronchoscope robot, and only needs to set the robot structure parameters and motion degrees of freedom, so as to simulate the form and behavior of different continuum robots. The center line of the bronchial tree is quickly extracted using the vmtk library, and a motion control algorithm based on the center line of the bronchial tree is designed, so that the simulation platform can effectively simulate the interaction between the robot and the bronchial tree. At the same time, the built-in collision detection interface of vtk is used to calculate the collision between the robot and the bronchial tree in real time, and real-time and accurate feedback is carried out in the simulation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot simulation and control technology, in particular to a bronchoscope robot simulation control platform and method based on VTK (Visualization Toolkit), which is suitable for structure modeling, motion control, virtual simulation, etc. of continuum robots (such as bronchoscope robots), and can be widely applied in the fields of medical robot simulation, surgical training and robot control algorithm verification, etc. BACKGROUND

[0002] As an important means of minimally invasive diagnosis and treatment, bronchoscope surgery is widely used in the diagnosis and treatment of lung diseases, such as early screening of lung cancer, treatment of bronchial stenosis, etc. Bronchoscope robot is a typical continuum robot, whose flexible structure and multi-degree-of-freedom motion characteristics enable it to navigate flexibly in the complex bronchial tree structure and complete lesion positioning, tissue sampling and other operations. However, due to the complex structure of the human bronchial tree, the motion control and simulation technology of the bronchoscope robot still faces many challenges.

[0003] Firstly, the complexity and individual difference of the bronchial tree structure make the path planning and motion control of the robot extremely difficult. The branched structure of the bronchial tree is narrow and variable, and the robot needs to complete precise motion in a limited space while avoiding collision with the pipe wall. Secondly, the kinematics modeling of the continuum robot itself is highly nonlinear, especially in the case of multi-degree-of-freedom motion, the inverse kinematics calculation is complex, and real-time control is difficult. In addition, the bronchoscope robot needs to interact with soft tissue in actual operation, and the simulation and feedback of this interaction force is one of the difficulties of existing simulation technology. The existing simulation platform often cannot accurately simulate the dynamic interaction behavior between the robot and the tissue, resulting in a large deviation between the simulation result and the actual operation.

[0004] In the prior art, the simulation and navigation of bronchoscope surgery mainly rely on the scheme of preoperative static model + intraoperative real-time position. Specifically, a static three-dimensional model of the bronchial tree is reconstructed through medical images (such as CT), and the real-time navigation of the robot is realized by combining electromagnetic positioning or optical tracking technology during the operation. However, this scheme has obvious limitations: firstly, the static model cannot reflect the influence of respiratory motion or tissue deformation on the operation path; secondly, due to the lack of preoperative simulation function, the doctor cannot preform and evaluate the motion path, collision detection and operation feasibility of the robot before the operation, which limits the safety and efficiency of the operation. For doctors, the static model cannot provide the opportunity for preoperative simulation operation, and doctors can only rely on experience and real-time images for adjustment during the operation, which increases the risk and learning curve of the operation. The physical learning resources (such as cadaver models or animal experiments) are huge in consumption and high in cost, and it is difficult to meet the demand of large-scale training.

[0005] At present, although there are some surgical robot simulation platforms, there is no dedicated bronchoscope robot simulation platform. The visualization effect and interaction performance of general simulation tools are limited, which is difficult to meet the needs of high precision, real-time and immersion in medical simulation. Especially in the simulation of tissue interaction, the existing technology often cannot provide sufficient precision and real-time, resulting in a large gap between the simulation results and the actual operation.

[0006] "VR bronchoscopy and treatment teaching platform": This patent relates to a VR bronchoscopy and treatment teaching platform, which includes a VR handle, a VR glasses, a storage unit, a scoring unit and a system unit. Through the immersive VR system, the platform helps users to observe and learn the bronchial structure cognition and lesion treatment during the conventional training and teaching process based on the bronchial model and the bronchoscope positioning point. The system can select random processing points and adjust the shape of the bronchial model as needed to achieve a more realistic teaching process and immersive operation experience.

[0007] "Interventional surgical robot simulation system": This patent relates to an interventional surgical robot simulation system, which includes a control module, a state simulation module and a mechanical arm simulation module. The control module communicates with the state simulation module and the mechanical arm simulation module, and is responsible for sending control instructions to them. The state simulation module receives instructions and simulates the adjustment of peripheral devices, while the mechanical arm simulation module obtains motion parameters according to the instructions and simulates the execution of corresponding surgical actions. This system simulates the complete workflow without the need for hardware to debug the entire process.

[0008] The existing technology has many limitations in the field of bronchoscope robot simulation, which significantly affects the efficiency and practicality of simulation. First of all, there is a lack of simulation platform specifically for bronchoscope robots, and existing simulation platforms are usually based on traditional laparoscope robot mechanical arms or other types of robots, which cannot fully adapt to the characteristics of continuum robots. Especially for bronchoscope robots, traditional platforms need to be manually modeled and set kinematic parameters, which not only has a large workload, but also has limited flexibility and expandability for complex continuum robots. In addition, traditional simulation systems often have difficulty in handling the interaction between the robot and the bronchial tree, such as lack of collision detection and motion feedback functions, which makes the simulation platform unable to truly reproduce the motion situation and operation precision of the robot in the complex airway environment, affecting the simulation effect and reliability of actual operation. SUMMARY

[0009] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art and provide a bronchoscope robot simulation platform and method based on VTK.

[0010] The technical solution of the present application is:

[0011] A bronchoscope robot simulation platform based on VTK, the simulation platform comprising a three-dimensional reconstruction module, a center line extraction module, a voxel modeling module, a data reading module, a scene arrangement module, a motion processing module, a rendering refresh module;

[0012] The three-dimensional reconstruction module is used for receiving lung CT scan data given by a user, and performing three-dimensional reconstruction on the received CT scan data to obtain a three-dimensional model, and then outputting the obtained three-dimensional model to the center line extraction module and the scene arrangement module;

[0013] The center line extraction module is used for receiving the three-dimensional model output by the three-dimensional reconstruction module, and performing center line extraction on the received three-dimensional model to obtain center line data, and then outputting the obtained center line data to the scene arrangement module;

[0014] The voxel modeling module is used for receiving robot parameters set by a user, and establishing a voxel robot model according to the received robot parameters, and then outputting the voxel robot model to the scene arrangement module;

[0015] The data reading module is used for receiving real-time control data of an external handle, and performing normalization processing on the received real-time control data to obtain standard external input data, and then outputting the obtained standard external input data to the scene arrangement module;

[0016] The scene arrangement module is used for receiving the voxel robot model output by the voxel modeling module, the standard external input data output by the data reading module, the center line data input by the center line extraction module, and the three-dimensional model output by the three-dimensional reconstruction module, and using a VTK library to build a simulation scene according to the voxel robot model, the three-dimensional model, and the center line data; the scene arrangement module is also used for initializing a virtual camera of the robot; the scene arrangement module is also used for processing the received standard external input data to obtain a robot motion signal, and then outputting the obtained robot motion signal to the motion processing module;

[0017] The motion processing module is used for receiving the robot motion signal output by the scene arrangement module, processing the received robot motion signal to obtain a VTK transformation matrix, and then outputting the obtained VTK transformation matrix to the rendering refresh module;

[0018] The rendering refresh module is used for receiving the VTK transformation matrix output by the motion processing module, updating a spatial position of the robot using the VTK transformation matrix, and refreshing the virtual camera of the robot and the simulation scene according to the updated spatial position.

[0019] The method for processing the received robot motion signal to obtain the VTK transformation matrix by the motion processing module is:

[0020] Step S1, obtain the robot motion signal H and the pose state T of the robot at this time;

[0021] Step S2, use the built-in OBB-based collision detection algorithm of VTK to detect the coincidence of the robot at this time with the bronchial tree model S;

[0022] Step S3, according to the coincidence S, quickly calculate the relative position information of each part of the robot and the center axis of the bronchial tree by the KD tree algorithm, and use the robot motion signal H to deduce the pose change T0 of the robot at this moment;

[0023] Step S4, operate the pose state T and the pose change T0 to obtain the pose state T' at the next moment, and process T' into a standard matrix format, that is, a VTK transformation matrix.

[0024] The method for establishing a voxelized robot model according to the received robot parameters comprises the following steps:

[0025] Step S1, obtain the input robot parameters R and L; R is the robot radius, and L is the robot center axis length;

[0026] Step S2, create an empty matrix list;

[0027] Step S3, create an empty Boolean matrix, calculate the coordinates of the points on the robot axis in the created empty Boolean matrix under the condition of bending at a certain angle according to the equal curvature bending assumption, and set the Boolean value of the calculated coordinate position to 1;

[0028] Step S4, traverse all points in the spherical region with a radius R around each point on the robot axis, and set the Boolean value of the position to 1 to obtain a Boolean matrix corresponding to the robot model;

[0029] Step S5, repeat steps S3-S4 using different angles, and store the Boolean matrices corresponding to the robot models bent at different angles into the empty matrix list created in step S2;

[0030] Step S6, add a rotation and displacement transformation matrix to the robot in the matrix obtained in step S5 to obtain a new matrix, and the robot is bent, rotated or displaced according to the obtained new matrix;

[0031] The method for extracting a center line of a three-dimensional model by the center line extraction module comprises the following steps: using the VMTK library, selecting an initial point and a terminal point, and calculating to obtain center line data.

[0032] A bronchoscope robot simulation method based on VTK, the steps of the method comprising:

[0033] The first step is for the 3D reconstruction module to receive lung CT scan data from the user, perform 3D reconstruction on the received CT scan data to obtain a 3D model, and then output the obtained 3D model to the centerline extraction module and the scene arrangement module.

[0034] The second step is for the centerline extraction module to receive the 3D model output by the 3D reconstruction module, extract the centerline from the received 3D model to obtain centerline data, and then output the obtained centerline data to the scene orchestration module.

[0035] The third step is for the voxel modeling module to receive the robot parameters set by the user, build a voxel robot model based on the received robot parameters, and then output the voxel robot model to the scene orchestration module.

[0036] The fourth step is for the data reading module to receive real-time control data from the external handle, normalize the received real-time control data to obtain standard external input data, and then output the obtained standard external input data to the scene orchestration module.

[0037] The fifth step is that the scene orchestration module receives the voxelized robot model output by the voxelized modeling module, the standard external input data output by the data reading module, the centerline data input by the centerline extraction module, and the 3D model output by the 3D reconstruction module, and uses the VTK library to build a simulation scene based on the voxelized robot model, the 3D model, and the centerline data.

[0038] Step 6: The scene arrangement module initializes the robot's virtual camera;

[0039] The seventh step is for the scene orchestration module to process the received standard external input data to obtain the robot motion signal, and then output the obtained robot motion signal to the motion processing module.

[0040] Step 8: The motion processing module receives the robot motion signal output by the scene orchestration module, processes the received robot motion signal to obtain the VTK transformation matrix, and then outputs the obtained VTK transformation matrix to the rendering refresh module.

[0041] In the ninth step, the rendering and refresh module receives the VTK transformation matrix output by the motion processing module, updates the robot's spatial position using the VTK transformation matrix, and refreshes the robot's virtual camera and simulation scene based on the updated spatial position.

[0042] Beneficial effects

[0043] In view of the defects of the prior art, an innovative bronchoscope robot simulation platform is proposed, which is developed based on the vtk library and can solve the shortcomings of the traditional simulation platform to some extent. Firstly, the platform uses voxel modeling technology to model the bronchoscope robot. Only by setting the robot structure parameters and motion degrees of freedom, the form and behavior of different continuum robots can be simulated. The center line of the bronchial tree is quickly extracted using the vmtk library, and a motion control algorithm based on the center line of the bronchial tree is designed, so that the simulation platform can effectively simulate the interaction between the robot and the bronchial tree. At the same time, the built-in collision detection interface of vtk is used to calculate the collision between the robot and the bronchial tree in real time, and accurate feedback is provided in real time during the simulation process. In addition, the platform designs a handle control robot mapping algorithm. Finally, all functions are connected to build a complete simulation system, which can well meet the needs of different robot configurations and bronchial tree environments for surgery simulation.

[0044] In the present application, the robot adopts a voxel modeling method, which can adapt to different types of continuum robot models, significantly improve the calculation efficiency and reduce the simulation calculation time, and ensure that the simulation system has high efficiency and flexibility. The present application provides an integrated bronchoscope motion simulation platform that can support preoperative demonstration, path planning, collision detection and operation testing, and provide more accurate preoperative simulation for doctors, optimize the surgical path and improve safety and efficiency. The designed platform provides bronchoscope robot motion simulation functions, which can be used for preoperative demonstration, path planning, control method testing and verification, etc. By simulating the motion of the bronchoscope in the complex bronchial tree in real time, the platform can help doctors evaluate the motion path of the robot and the feasibility of the operation in advance. The present application adopts a voxel modeling method, and the platform can flexibly adapt to various types of continuum robot models. By representing the robot as a combination of voxel grids, the modeling process of complex shapes can be effectively simplified, and the calculation efficiency can be significantly improved. The voxel model has faster calculation speed, and can quickly process collision detection and motion feedback with the environment during the simulation process, thereby reducing the simulation calculation time and providing more timely feedback for actual operation. This will help improve the planning accuracy before surgery, help doctors familiarize themselves with the operation process, reduce the risk in actual surgery, and improve the efficiency and safety of surgery. The simulation platform is developed based on vtk (Visualization Toolkit), which has the characteristics of small size and high performance, and is very suitable for the needs of the medical simulation field. Vtk provides powerful visualization functions, and the platform is also convenient for subsequent expansion and function integration. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 The system composition schematic diagram of the present application is shown in the figure;

[0046] Figure 2This is a schematic diagram of a simulation scene. Detailed Implementation

[0047] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0048] Example

[0049] like Figure 1 As shown, a VTK-based bronchoscopy robot simulation platform is provided. The simulation platform includes a 3D reconstruction module, a centerline extraction module, a voxel modeling module, a data import module, a scene arrangement module, a motion processing module, and a rendering refresh module.

[0050] The three-dimensional reconstruction module is used to receive lung CT scan data provided by the user, perform three-dimensional reconstruction on the received CT scan data to obtain a three-dimensional model, and then output the obtained three-dimensional model to the centerline extraction module and the scene arrangement module.

[0051] The centerline extraction module is used to receive the 3D model output by the 3D reconstruction module, extract the centerline from the received 3D model to obtain centerline data, and then output the obtained centerline data to the scene orchestration module.

[0052] The voxel modeling module is used to receive the robot parameters R=1.5mm and the centerline length L=35mm set by the user, and to build a voxel robot model based on the received robot parameters. Then, the voxel robot model is output to the scene orchestration module.

[0053] The data reading module is used to receive real-time control data from an external controller, including the coordinates of the left joystick and the right joystick. The received real-time control data is normalized to obtain standard external input data, and then the obtained standard external input data is output to the scene orchestration module.

[0054] The scene orchestration module receives the voxelized robot model output by the voxelization modeling module, standard external input data output by the data reading module, centerline data input by the centerline extraction module, and the 3D model output by the 3D reconstruction module. Based on the voxelized robot model, the 3D model, and the centerline data, it uses the VTK library to build a simulation scene, such as... Figure 2The voxelized robot end is set at the origin in the space, and the orientation is the positive direction of the X axis. The entry point of the three-dimensional model is set at the origin in the space, and the orientation is consistent with the initial motion direction of the voxelized robot. The scene arrangement module is also used to initialize the virtual camera of the robot, using the VTK library camera module and binding the camera at the head point position of the voxelized robot; the scene arrangement module is also used to process the received standard external input data to obtain robot motion signals corresponding to the three degrees of freedom of rotation, bending and advancing and retreating of the voxelized robot, and then output the obtained robot motion signals to the motion processing module;

[0055] The motion processing module is used to receive the robot motion signals output by the scene arrangement module, process the received robot motion signals to obtain a VTK transformation matrix, and then output the obtained VTK transformation matrix to the rendering refresh module;

[0056] The rendering refresh module is used to receive the VTK transformation matrix output by the motion processing module, and update the spatial position of the robot using the VTK transformation matrix, and refresh the virtual camera of the robot and the simulation scene according to the updated spatial position.

[0057] The method for the motion processing module to process the received robot motion signals to obtain a VTK transformation matrix is:

[0058] Step S1, obtain the robot motion signal H and the pose state T of the robot at this time;

[0059] Step S2, detect the coincidence of the robot at this time with the bronchial tree model using the built-in obb-based collision detection algorithm of VTK S;

[0060] Step S3, according to the coincidence S, quickly calculate the relative position information of each part of the robot with the central axis of the bronchial tree through the KD tree algorithm, and use the robot motion signal H to deduce the pose change T0 of the robot at this moment;

[0061] Step S4, operate the pose state T and the pose change T0 to obtain the pose state T' at the next moment, and process T' into a standard matrix format, that is, a VTK transformation matrix.

[0062] The method for the voxelized modeling module to establish a voxelized robot model according to the received robot parameters is:

[0063] Step S1, obtain the input robot parameters R and L; R is the radius of the robot, and L is the length of the central axis of the robot;

[0064] Step S2, create an empty matrix list;

[0065] Step S3, creating an empty Boolean matrix, calculating the coordinates of the points on the robot axis in the case of bending at a certain angle according to the isocurvature bending design, and setting the Boolean value of the calculated coordinate position to 1;

[0066] Step S4, traversing all points in the spherical region with a radius R around each point on the robot axis, and setting the Boolean value of its position to 1 to obtain a Boolean matrix corresponding to the robot model;

[0067] Step S5, repeating steps S3-S4 using different angles, and storing the Boolean matrix corresponding to the robot model bent at different angles in the empty matrix list created in step S2;

[0068] Step S6, adding a rotation and displacement transformation matrix to the robot in the matrix obtained in step S5 to obtain a new matrix, and the robot is bent, rotated or displaced according to the obtained new matrix;

[0069] The method for center line extraction of the center line extraction module is to use the VMTK library, select the initial point and the end point, and calculate the center line data.

[0070] A bronchoscope robot simulation method based on VTK, the steps of the method comprising:

[0071] First, the three-dimensional reconstruction module receives the lung CT scan data given by the user, and performs three-dimensional reconstruction on the received CT scan data to obtain a three-dimensional model, and then outputs the obtained three-dimensional model to the center line extraction module and the scene arrangement module;

[0072] Second, the center line extraction module receives the three-dimensional model output by the three-dimensional reconstruction module, and extracts the center line of the received three-dimensional model to obtain center line data, and then outputs the obtained center line data to the scene arrangement module;

[0073] Third, the voxel modeling module receives the robot parameters set by the user, and establishes a voxel robot model according to the received robot parameters, and then outputs the voxel robot model to the scene arrangement module;

[0074] Fourth, the data reading module receives the real-time control data of the external handle, and performs normalization processing on the received real-time control data to obtain standard external input data, and then outputs the obtained standard external input data to the scene arrangement module;

[0075] In the fifth step, the scene arrangement module receives the voxelized robot model output by the voxelization modeling module, the standard external input data output by the data reading module, the center line data input by the center line extraction module, and the three-dimensional model output by the three-dimensional reconstruction module, and uses the VTK library to build a simulation scene according to the voxelized robot model, the three-dimensional model, and the center line data.

[0076] In the sixth step, the scene arrangement module initializes the virtual camera of the robot.

[0077] In the seventh step, the scene arrangement module processes the received standard external input data to obtain a robot motion signal, and then outputs the obtained robot motion signal to the motion processing module.

[0078] In the eighth step, the motion processing module receives the robot motion signal output by the scene arrangement module, processes the received robot motion signal to obtain a VTK transformation matrix, and then outputs the obtained VTK transformation matrix to the rendering refresh module.

[0079] In the ninth step, the rendering refresh module receives the VTK transformation matrix output by the motion processing module, updates the spatial position of the robot using the VTK transformation matrix, and refreshes the virtual camera of the robot and the simulation scene according to the updated spatial position.

[0080] In summary, the above is only a preferred embodiment of the present application, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A bronchoscope robot simulation platform based on VTK, characterized in that: the simulation platform comprises a three-dimensional reconstruction module, a center line extraction module, a voxel modeling module, a data reading module, a scene arrangement module, a motion processing module, and a rendering refresh module; the three-dimensional reconstruction module is configured to receive lung CT scan data provided by a user, perform three-dimensional reconstruction on the received CT scan data, obtain a three-dimensional model, and output the three-dimensional model to the center line extraction module and the scene arrangement module; the center line extraction module is configured to receive the three-dimensional model output by the three-dimensional reconstruction module, perform center line extraction on the received three-dimensional model, obtain center line data, and output the center line data to the scene arrangement module; the voxel modeling module is configured to receive robot parameters set by the user, establish a voxel robot model according to the received robot parameters, and output the voxel robot model to the scene arrangement module; the data reading module is configured to receive real-time control data of an external handle, perform normalization on the received real-time control data, obtain standard external input data, and output the standard external input data to the scene arrangement module; the scene arrangement module is configured to receive the voxel robot model output by the voxel modeling module, the standard external input data output by the data reading module, the center line data input by the center line extraction module, and the three-dimensional model output by the three-dimensional reconstruction module, and use a VTK library to build a simulation scene according to the voxel robot model, the three-dimensional model, and the center line data; the scene arrangement module is further configured to initialize a virtual camera of the robot; the scene arrangement module is further configured to process the received standard external input data to obtain robot motion signals, and output the robot motion signals to the motion processing module; the motion processing module is configured to receive the robot motion signals output by the scene arrangement module, process the received robot motion signals to obtain a VTK transformation matrix, and output the VTK transformation matrix to the rendering refresh module; and the rendering refresh module is configured to receive the VTK transformation matrix output by the motion processing module, update a spatial position of the robot using the VTK transformation matrix, and refresh the virtual camera of the robot and the simulation scene according to the updated spatial position. 2.The bronchoscope robot simulation platform based on VTK according to claim 1, characterized in that: the method for processing the received robot motion signals to obtain the VTK transformation matrix by the motion processing module comprises the following steps: step S1, obtaining robot motion signals H and a pose state T of the robot at this time; step S2, detecting an overlap condition S between the robot at this time and a bronchial tree model using an obb-based collision detection algorithm built in the VTK; and step S3, according to the overlap condition S, quickly calculating relative position information between each part of the robot and a center axis of the bronchial tree model using a KD tree algorithm, and using the robot motion signals H to deduce a pose change T0 of the robot at this time. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ Step S4, the pose state T is calculated with the pose change T0 to obtain the next time pose state T', and T' is processed into a standard matrix format, that is, a VTK transformation matrix.

3. The bronchoscope robot simulation platform based on VTK according to claim 1, characterized in that: The method for the voxel modeling module to establish a voxel robot model according to the received robot parameters is: Step S1, obtain the input robot parameters R and L; R is the robot radius, and L is the robot central axis length; Step S2, create an empty matrix list; Step S3, create an empty Boolean matrix, calculate the coordinates of the points on the robot axis in the created empty Boolean matrix under the condition of bending at a certain angle according to the isocurvature bending assumption, and set the Boolean value of the calculated coordinate position to 1; Step S4, traverse all the points in the spherical region with a radius R around each point on the robot axis, and set the Boolean value of the position to 1 to obtain a Boolean matrix corresponding to the robot model; Step S5, repeat steps S3-S4 using different angles to store the Boolean matrices corresponding to the robot models bent at different angles into the empty matrix list created in step S2; Step S6, add a rotation and displacement transformation matrix to the robot in the matrix obtained in step S5 to obtain a new matrix, and the robot is bent, rotated or displaced according to the obtained new matrix.

4. The bronchoscope robot simulation platform based on VTK according to claim 1, characterized in that: The method for the centerline extraction module to extract the centerline of the three-dimensional model is to use the VMTK library, select the initial point and the terminal point, and calculate the centerline data.

5. A VTK-based bronchoscope robot simulation method, characterized by The steps of the method include: First step, the three-dimensional reconstruction module receives the lung CT scan data given by the user, performs three-dimensional reconstruction on the received CT scan data, obtains a three-dimensional model, and then outputs the obtained three-dimensional model to the centerline extraction module and the scene arrangement module; Second step, the centerline extraction module receives the three-dimensional model output by the three-dimensional reconstruction module, extracts the centerline of the received three-dimensional model, obtains centerline data, and then outputs the obtained centerline data to the scene arrangement module; Third step, the voxel modeling module receives the robot parameters set by the user, establishes a voxel robot model according to the received robot parameters, and then outputs the voxel robot model to the scene arrangement module; Fourth step, the data reading module receives the real-time control data of the external handle, performs normalization processing on the received real-time control data to obtain standard external input data, and then outputs the obtained standard external input data to the scene arrangement module; Fifth step, the scene arrangement module receives the voxel robot model output by the voxel modeling module, the standard external input data output by the data reading module, the centerline data input by the centerline extraction module, and the three-dimensional model output by the three-dimensional reconstruction module, and uses the VTK library to build a simulation scene according to the voxel robot model, the three-dimensional model, and the centerline data; Sixth step, the scene arrangement module initializes the virtual camera of the robot; In the seventh step, the scene arrangement module processes the received standard external input data to obtain robot motion signals, and then outputs the obtained robot motion signals to the motion processing module; In the eighth step, the motion processing module receives the robot motion signals output by the scene arrangement module, processes the received robot motion signals to obtain a VTK transformation matrix, and then outputs the obtained VTK transformation matrix to the rendering refresh module; In the ninth step, the rendering refresh module receives the VTK transformation matrix output by the motion processing module, updates the spatial position of the robot using the VTK transformation matrix, and refreshes the virtual camera of the robot and the simulation scene according to the updated spatial position.

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