The system gets two image of one object with two CCD, thus obtains depth from two CCD"s parallax. After investigating the operation spot and discussing with surgeons we use LED as markers, and get the marker"s 3-D position with a non-contact optics orientation method. After calibrating the CCD, processing the image, the system can figure out marker"s areal coordinates, get marker"s 3-D coordinate in dummy world coordinate system, thereby obtain instruments 3-D position and orientation. After the coordinate transformation and a series of orientation calculation, operation navigation comes true.

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In order to apply virtual reality technique into medical image processing, make convenient for surgeons to access virtual and mini invasive surgery, this paper, presents a full interactive virtual endoscopy system framework, analyzing and discussing system architecture and algorithm models. We explain some key procedures in virtual endoscopy system such as definition of world coordinate, virtual camera, surface detection, normal approximation, volume rendering and surface rendering, and also some interactive control method.

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The arithmetic is presented to solve the transformation between screen coordinate and world coordinate,which uses the prospective image arithmetic and Z-Depth buffer of OpenGL,and is suitable for many occasion.

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Local Coordinate System：自身坐標(biāo)系

這里需要特別指出的是2D Picking模塊輸出的是世界坐標(biāo)(world space coordinates)信息,而Set Orientation模塊需要是自身坐標(biāo)系(Local Coordinate System)信息,因此要進(jìn)行相應(yīng)的坐標(biāo)變換.

user coordinate system：用戶坐標(biāo)系

用戶坐標(biāo)系(user coordinate system)的使用對(duì)于三維設(shè)計(jì)有著重要的意義. 在二維設(shè)計(jì)中我們?cè)缫言谑褂靡环N特殊的ucs,稱為大地坐標(biāo)系(world coordinate system),這個(gè)坐標(biāo)系就是我們的作圖平面. 但在三維設(shè)計(jì)中我們不可能將所有的圖形都在這一個(gè)平面中作出,

real-world haptics：実世界

real-world coordinate 實(shí)物坐標(biāo) | real-world haptics 実世界ハプティクス | real-world operation 實(shí)際運(yùn)轉(zhuǎn)