| 基于单位四元数的手术导航注册方法 |
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| 引用本文： | 陶玲,王跃,钱志余. 基于单位四元数的手术导航注册方法[J]. 华南理工大学学报(自然科学版), 2011, 39(9): 128-133. DOI: 10.3969/j.issn.1000-565X.2011.09.022 |
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| 作者姓名： | 陶玲 王跃 钱志余 |
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| 作者单位： | 南京航空航天大学自动化学院,江苏南京,210016 |
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| 基金项目： | 国家“863”计划项目(2007AA02Z4A9) |
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| 摘 要： | 针对目前的脑立体定向手术导航注册方法存在较大误差和可能出现奇异点等缺点,提出了一种基于四元数电磁定位的新注册方法.利用四元数的快速迭代特性和计算过程无奇异解的特性实现注册过程中的3个空间映射过程,根据单位四元数中的刚体姿态变换描述及奇次坐标理论求解从实时手术空间到计算机空间的最优转换矩阵.实验结果表明,文中所提算法得到...
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| 关 键 词： | 脑立体定向手术 注册方法 注册误差 单位四元数 |
Surgical Navigation Registration Based on Unit-Quaternion |
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| Tao Ling,Wang Yue,Qian Zhi-yu. Surgical Navigation Registration Based on Unit-Quaternion[J]. Journal of South China University of Technology(Natural Science Edition), 2011, 39(9): 128-133. DOI: 10.3969/j.issn.1000-565X.2011.09.022 |
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| Authors: | Tao Ling Wang Yue Qian Zhi-yu |
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| Affiliation: | Tao Ling Wang Yue Qian Zhi-yu(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,Jiangsu,China) |
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| Abstract: | In order to avoid the gross registration error and the singular point in the current registration method of the navigation of stereotactic brain surgery,a novel registration method with electromagnetic positioning is proposed based on unit-quaternion.In this method,by using the characteristics of fast iteration and nonsingular solution of unit-quaternion,three space mappings are realized during the registration.Moreover,the optimal transformation matrix from the surgery space to the computer space is solved... |
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| Keywords: | stereotactic brain surgery registration method registration error unit-quaternion |
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