The invention relates to the technical field of surgical path planning, in particular to a
robot-assisted
mammary gland thyroid tumor minimally invasive excision path
planning method and
system, and the method comprises the following steps: collecting tissue structures, poses and response contents, carrying out synchronous
processing according to timestamps, recognizing vascular structures, extracting spatial differences, expanding candidate regions, and reading gray variance. And judging an included angle relation, analyzing displacement change, and generating a path planning result. According to the method, a data
fusion system with a unified
time index is constructed, an organizational structure,
pose information and perceptual response are integrated, the
time sequence consistency of input data is enhanced, the trend change of an operation area is clarified through
blood vessel direction continuity and a
spatial difference value extraction mode, boundary continuity recognition is achieved in combination with boundary area gray and variance features, and the recognition accuracy is improved. The advancing direction is corrected based on the path and
blood vessel included angle relation, the path node sequence and the adjustment range are dynamically judged according to the displacement difference, and the
response capacity and stability of path planning to intraoperative changes are improved.