【摘要】 计算机集成外科手术系统是将机器人、计算机和图像处理技术应用于临床外科手术,是对传统手术的挑战。介绍了计算机集成外科手术系统中空间配准的基本原理,提出了基于轮廓特征的ICP配准算法。这种算法结合了ICP最优化解析方法和四元数法的优点,解决了图像轮廓点的空间配准问题。通过医学图像实例,证明了该方法的有效性。更多还原

【Abstract】 Computer integrated surgical systems and technology is the challenge to traditional surgery,applying the technology of robot,computer and image manipulation into clinic surgical procedures?The paper interprets the basic principle of registration in computer integrated surgical systems and technology ,and presents an ICP(Iterative Closest Point ) algorithm based on contour feature ,which combines the advantages of the ICP analytical optimization and the quaternions to solve the problem of image contour points registration?According to the example of medicinal image,it proves this ICP algorithm is effective更多还原