2 results about "Human airway" patented technology

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.