Multi-focus-point endoscope path planning method, device and terminal

A path planning and endoscopy technology, applied in the field of intelligent medical treatment, can solve the problems of insufficient precision, unresolved, slow path planning speed, etc., and achieve the effect of high accuracy

Pending Publication Date: 2022-02-11
SUZHOU ZHONGKE HUAYING HEALTH TECH CO LTD
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Problems solved by technology

[0004] In the process of using endoscopic surgery, preoperative path planning is particularly important, especially in multi-lesional scenarios, doctors need to plan the most suitable surgical path according to the location of lesions, so that doctors can refer to the path operation However, in the existing technology, the path planning speed is slow, the accuracy is not enough, and the path planning in the case of multiple lesions in the actual medical scene has not been solved.

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  • Multi-focus-point endoscope path planning method, device and terminal
  • Multi-focus-point endoscope path planning method, device and terminal
  • Multi-focus-point endoscope path planning method, device and terminal

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[0079] Next, the technical scheme in the present application embodiment will be described in the present application embodiment, and it is understood that the described embodiments are merely the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative labor are the scope of the present application.

[0080] It should be noted that the specification of the present application and the claims, "first", "second", "second", or the like are used to distinguish a similar object without having to describe a particular order or ahead order. It should be understood that the data such as use can be interchanged in place so that the embodiments of the present application described herein can be implemented in the order other than those illustrated or described herein. Moreover, the terms "including" and "have" and any variations, it is inte

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Abstract

The invention discloses a multi-focus-point endoscope path planning method and device and a terminal. The method comprises the following steps: determining a plurality of initial paths based on a starting point and a plurality of focus points; determining a plurality of path points corresponding to each initial path; calling a crow search algorithm, and performing spatial position processing based on the initial spatial position of each path point in each initial path to obtain a first spatial position of each path point; determining a first target position corresponding to the first spatial position of each path point; if the first spatial position and the first target position of each path point meet a preset use condition and the first spatial position of each path point meets a preset convergence condition, taking the first spatial position as a target iteration position; planning each first path corresponding to each initial path based on the starting point of an endoscope, the plurality of focus points and the target iteration position of each path point in each initial path; and determining a target path of the endoscope based on each first path.

Description

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Claims

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Application Information

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Owner SUZHOU ZHONGKE HUAYING HEALTH TECH CO LTD
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