Procedimiento y sistema de generación de un recorrido para una broncoscopia virtual

摘要

The invention relates to a method for generating a path for a virtual bronchoscopy, comprising generating a model of a tracheobronchial tree and a model of a bronchoscope. The model of the tracheobronchial tree comprises a representation of the walls of the tree and of a target zone. The model of the bronchoscope comprises a representation of a viewing end (tip) of the bronchoscope using a kinematic chain of inter-articulated rigid bodies. The rigid bodies include at least a base and a viewing body. The rotation of the articulations represents a tip bending movement. The method also comprises calculating a sequence of chain movements that moves the viewing body towards the target without any of the rigid bodies passing beyond the walls of the tracheobronchial tree, each segment being calculated by applying at least one chain articulation rotation value and a chain forward movement.