FIELD: medicine.
SUBSTANCE: group of inventions relates to means of calculating invasive device path. Method of scheduling path in accordance with the surgical application includes the stages, on which the configurations space tops structure on the data medium is composed, herewith the configurations space tops structure includes tops of configuration in free space and prohibited tops of configuration, which represent discretized configuration space of anatomical body area, and an evaluation of structural damage for each top of configuration in free space is formed, herewith the evaluation of structural damage characterizes the assessment of potential damage of at least one critical anatomical part of the anatomic area of the body represented by prohibited tops of configuration, herewith each prohibited top of configuration has an infinite value of structural damage evaluation. In the second version of the method implementation the formation of structural damage evaluation for each top in free space includes the stages, on which a marked image of the anatomic body area is formed, which includes at least one prohibited section of the anatomic body area, and the values of structural damage evaluations for each top of configuration in free space associated with the marked image are calculated. System for scheduling the path includes data medium and data processing device to make a structure of tops of configurations space on the data medium.
EFFECT: using the inventions enables minimizing damage of critical structures.
16 cl, 18 dwg
