There is no distortion in product because of the rigid transform.

整个变换过程为刚性变换，产品不会发生扭曲变形。

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Substituting coordinates of all pairs of points into rigid transform equations, one could use least squares to get the rigid transform matrix from image space to surgical space.

将所有点对坐标值代入刚体变换线性方程组，用最小二乘法求出从图像空间到手术空间的刚体变换矩阵，最终实现医学图像标志点的自动识别和配准。

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Substituting coordinates of all pairs of points into rigid transform equations, one could use least squares to get the rigid transform matrix from image space to surgical space.

将所有点对坐标值代入刚体变换线性方程组，用最小二乘法求出从图像空间到手术空间的刚体变换矩阵，最终实现医学图像标志点的自动识别和配准。

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