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提出了一种定位区域球方法来表示高强度聚焦超声手术平台在定位运动时肿瘤在其工作空间中的位置和姿态 .针对该简化肿瘤模型 ,使用最近邻近查询方法确定了治疗头和超声焦点在定位到肿瘤目标过程中必须经过的中间位姿和目标位姿 .根据确定的位姿 ,把组合Bezier曲线的连续条件和SO(3)的DeCasteljau算法结合 ,构造出了一条在衔接位姿C2 连续的组合Bezier曲线路径用于定位 ,并且根据一例肝脏肿瘤病例对各种连续路径作了详细分析 .
A method of locating the regional sphere is proposed to represent the location and attitude of the tumor in its working space during the positioning movement of the high intensity focused ultrasound surgical platform.This simplified tumor model uses the nearest neighbor query method to determine the focus of the treatment head and ultrasound on According to the determined pose, combining the continuous condition of the combination Bezier curve and the DeCasteljau algorithm of SO (3) The combined Bezier curve path was used for localization and various continuous paths were analyzed in detail based on an example of liver tumor.