The present disclosure relates to the technical field of
endoscopy, and provides a path
planning method. In the method, a cross-sectional image of a target object and hardware parameters of a bronchoscope
robot corresponding to the target object are obtained; according to the cross-sectional image of the target object,
lesion feature information, trachea feature information and
blood vessel feature information of the target object are determined; according to the hardware parameters of the bronchoscope
robot, and the
lesion feature information, the trachea feature information and the
blood vessel feature information of the target object, an
airway wall
puncture biopsy path of the bronchoscope
robot is determined. In this way, since multiple constraint conditions are considered in the
generation process of the
airway wall
puncture biopsy path, the most efficient and safe
airway wall
puncture biopsy path can be obtained, thereby the problems of subjectivity and
human error that occur when a scheme is artificially formulated can be avoided, and thus the
airway wall puncture
biopsy path obtained by the embodiment is more accurate and has more reference value, and the safety and efficiency of the puncture
biopsy are also improved.