Three-dimensional vascular path planning method based on ant colony algorithm

The invention discloses a three-dimensional vascular path planning method based on ant colony algorithm. The three-dimensional vascular path planning method comprises the following operation steps of 1, introducing data; 2, modeling a blood vessel; 3, extracting an axis of the blood vessel; 4, establishing a network topology structure of the axis of the blood vessel; 5, performing an ant detection algorithm; 6, initializing a parameter; 7, performing a heuristic information calculation; 8, selecting a probability; 9, realizing dynamic pheromone volatilization; 10, calculating a pheromone increment; 11, updating the pheromone; 12, determining ending of planning; and 13, outputting a result. According to the three-dimensional vascular path planning method, the ant detection algorithm is used based on axis extraction of the blood vessel. Through improving the ant colony algorithm and comprehensive consideration for catheter diameter, blood vessel length, least diameter, maximal curvature and maximal torsion, planning for an optimal surgery path by a surgeon is facilitated. The three-dimensional vascular path planning method improves a path planning reliability before a vascular interventional surgery and ensures passing of the catheter. Furthermore a new surgical path reference standard can be supplied for the surgeon.