Robotic bronchoscopy navigation method and system

A robotic bronchoscopy navigation system, comprising:

• a robotic arm configured to control a robotic bronchoscopy;
• and
• a processing control device connected to the robotic arm to control the robotic bronchoscopy through the robotic arm, wherein the processing control device is configured to:
• obtaining a navigation image, and performing a navigation procedure according to the navigation image, the navigation procedure comprising:
• determining whether the navigation image has a node;
• if the navigation image does not have the node, controlling a bending part of the robotic bronchoscopy to move toward an image center of the navigation image;
• if the navigation image has the node, calculating a distance between the robotic bronchoscopy and the node;
• and
• controlling the bending part to move according to a default branch when the distance is smaller than a threshold of distance
• wherein the default branch is generated by identifying a change of a bifurcation node between a previous image and a current image taken by the robotic bronchoscopy during a path planning procedure, and is recorded in an event record where a node index is added by 1 when the bifurcation node does not exist in the previous image and exists in the current image;
• wherein the processing control device performing controlling the bending part to move according to the default branch comprises:
• calculating a virtual attraction force according to:
• (i) a virtual vector of the bending part relative to the image center, (ii) a speed obtained by performing first order differentiation on the virtual vector, (iii) an acceleration obtained by performing second order differentiation on the virtual vector, and (iv) a first distance between the bending part and the image center;
• calculating a virtual repulsive force according to the virtual vector, the speed, the acceleration and a second distance between the bending part and an inner wall of the default branch;
• and
• controlling the robotic arm to control the bending part according to the virtual attraction force and the virtual repulsive force based on a controlling standard, wherein the controlling standard is to make the virtual vector approach zero.