Water jet cutter trajectory presetting apparatus, computer-readable storage medium, and electronic device

Abstract

The present invention discloses a water jet trajectory presetting method. The method includes following steps: setting a telescoping direction of a water jet and a telescoping direction of an ultrasonic probe in parallel; identifying a water-jetting point in a sagittal ultrasonic image, determining a first position of a cutter hole in telescoping direction; controlling ultrasonic probe to move to obtain a cross-sectional ultrasonic image of the first position; identifying the water jetting point and a direction of a water column in cross-sectional ultrasonic image, controlling water jet to rotate until water column points to ultrasonic probe, generating a water jet trajectory starting point at the position of water-jetting point on sagittal ultrasonic image; determining a second position set in the telescoping direction of water jet as a water jet trajectory end point, generating on ultrasonic image a mark line from starting point to end point. The present invention can complete obtaining of positions and postures through a biplanar ultrasound image, achieves visualization of the water jet cutter on the ultrasound image, provides key information for automatic planning of an excision path of the water jet cutter.