Bronchial focus path planning method, device and equipment and readable storage medium

The invention relates to the technical field of surgical path planning, and discloses a path planning method, device and equipment for a bronchial focus and a readable storage medium. The method comprises the following steps: acquiring a three-dimensional scanning image of a bronchus; analyzing the three-dimensional scanning image, and determining target bronchial data and a focus position; extracting a bronchial centerline from the target bronchial data; and performing path search based on the endpoint, the bifurcation point and the bronchus entrance point corresponding to the bronchus center line, and generating a target path for the focus position. By implementing the technical scheme of the invention, the rule of the target path can be realized according to the extracted bronchial centerline and the focus position without being limited by the complexity of the focus position, and the accuracy and precision of path planning are effectively improved. 本发明涉及手术路径规划技术领域，公开了一种支气管病灶的路径规划方法、装置、设备及可读存储介质。其中，该方法包括：获