四元数在手术导航系统中的应用  

Application of Quaternions in Surgery Navigation System

作　　者：杨轶璐[1] 徐心和[1] 

机构地区：[1]东北大学信息科学与工程学院,辽宁沈阳110004

出　　处：《东北大学学报（自然科学版）》2005年第1期21-24,共4页Journal of Northeastern University(Natural Science)

基　　金：国家高技术研究发展计划项目(2001AA422270)

摘　　要：探讨了四元数作为表现旋转的可选择方法之一,其在手术导航系统中的应用·分析了在不同坐标系中定位必然涉及的坐标系之间映射变换·从理论上研究了四元数在手术导航定位系统坐标映射变换以及在手术导航空间配准中应用的问题,并给出了具体的仿真结果·结果表明,将四元数法应用于手术导航系统中,成功地解决了手术导航系统的两大技术难题空间配准和定位问题,在自行设计和实际开发的手术导航模体演示系统NEU IGSS中,得到了成功的应用·It was found that quaternions can play an alternative and compact role in surgery navigation system (SNS), to represent rotation. Locating something in different coordinate systems involves the mapping transformation between them. The application of quaternions in the mapping transformation between SNS coordinates and that of spatial registration in SNS are theoretically discussed in detail. The result of simulation shows that the application of quarternions to SNS can solve successfully the two difficult technological problems in SNS, i.e., spatial locating and registration .Both have been used successfully in the SNS model demonstration system NEU-IGSS which was designed and developed by ourselves.

关 键 词：四元数 手术导航系统 齐次坐标 映射变换 旋转矩阵 配准 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]