Methods for path planning, and methods, devices, and systems for determining operation guidance information

A detection device configured to obtain an X-ray image and an ultrasonic image, comprising a housing and an X-ray detector accommodated in the housing, wherein the detection device further includes an ultrasonic detector accommodated in the housing, and the ultrasonic detector is capable of moving to a position not blocking the X-ray detector from receiving X-rays,

• wherein the X-ray detector is configured to move, in the housing, along a first direction perpendicular to a panel surface of the housing where a tissue to be detected is placed,
• the ultrasonic detector is configured to move, in the housing, along a second direction parallel to the panel surface, and
• when X-ray detection is performed on the tissue to be detected, the ultrasonic detector moves along the second direction in the housing to a position fit to an inner wall of the housing such that the ultrasonic detector is moved out of the detection surface of the x-ray detector, and the X-ray detector is moved along the first direction to be close to the panel surface, and
• when ultrasonic detection is performed on the tissue to be detected, the X-ray detector moves along the first direction in the housing away from the panel surface such that a space is formed between the panel surface of the housing and the X-ray detector allowing the ultrasonic detector to move along the second direction.