Image and Vision Computing 23 (2005) 1–9

www.elsevier.com/locate/imavis

Localization of acupoints on a head based on a 3D virtual body

Lei Zhenga, Binjie Qina, Tiange Zhuanga,*, Ulf Tiedeb, Karl Heinz Höhneb
a
Department of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China
b
Institute of Medical Informatics (IMI), University Hospital Hamburg-Eppendorf, Hamburg, Germany
Received 11 February 2004; received in revised form 15 March 2004; accepted 31 March 2004

Abstract
Modern computer science allows powerful and versatile computer-based knowledge representations of acupuncture, one part of
Traditional Chinese Medicine. For further research and development of acupuncture therapy, it is critical to define where to accurately
localize acupoints onto such a computer based pictorial representation of the human body. Using the segmentation and 3D visualization of
the VOXEL-MAN software system, original work for localizing the acupoints on a head based of a virtual body is reported in this paper.
The proposed 2D acupoint description links the description taken from literature for locating acupoints in Traditional Chinese Medicine to
the data in the absolute reference frame of a 3D virtual body. It offers a simple and useful way for the localization of acupoints on a 3D model,
especially one derived from the data from Visible Human Project.
q 2004 Elsevier B.V. All rights reserved.
Keywords: Traditional Chinese Medicine; Acupuncture and moxibustion; Localization of acupoints; Three-dimensional body model; Visible Human Project;
VOXEL-MAN

1. Introduction
The science of acupuncture and moxibustion is an
important part of Traditional Chinese Medicine Chinese
people have accepted it for thousands of years, because of
its magic curative effect, simple operation, low cost, and
few side effects. Now, use of the science of acupuncture and
moxibustion has even spread all over the world.
Acupuncture therapy heavily depends upon the precise
placement of the acupuncture needle at the proper point
on the body surface. Some of them are vital. Such points
are defined within the context of blood vessels and
nerves. Positioning errors in acupuncture treatment can
cause medical accidents. Therefore the accurate localiz-
ation of acupoints is a key issue in the acupuncture
research.
In traditional medicine, knowledge on acupuncture is
described in books and atlases, such as the anatomical charts
of acupuncture and moxibustion. However, modern com-
puter science, especially computerized three-dimensional
models [1,2], allows new, more standardized and reprodu-
cible computer-based representations of the human body.
* Corresponding author.
E-mail address: tgzhuang@sjtu.edu.cn (T.G. Zhuang).
0262-8856/$ - see front matter q 2004 Elsevier B.V. All rights reserved.
doi:10.1016/j.imavis.2004.03.005
We expect that the use of such models will not only
decisively advance learning and teaching acupuncture, but
also substantially contribute to the research concerning
Traditional Chinese Medicine (TCM) theory.
One of these models is the VOXEL-MAN [3] system,
which consists of a voxel based spatial model of the human
body linked to a semantic network containing the descrip-
tive information. One of the prerequisites, however, for
making use of this model for acupuncture, we need to
transfer the classical qualitative description of the acupoints
into the computer-based model. With the example of the
human head we therefore propose in this paper algorithms
for transferring the localizations of the acupoints of the
human head from classical atlases and books to the
computer based model.
2. Pre-processing
Spatial knowledge representation in medical imaging
and computer graphics is totally different from what is used
in the literature for locating acupoints in TCM. The first uses
an absolute reference frame, which has almost no relation to
the image content, while the latter employs a relative
reference frame relative to constituents of the body.
2 L. Zheng et al. / Image and Vision Computing 23 (2005) 1–9

Furthermore, computer based volume models are The central ði; j; kÞ-moment of P the three dimensional
discretized in voxels. In current research, a voxel of the digital image is defined as mijk ¼ x;y;z ðx 2 gx Þi ðy 2 gy Þ j
VOXEL-MAN is e.g. 1.08 mm in each dimension [3]. ðz 2 gz Þk f ðx; y; zÞ: So the principal axes of the image can be
However, the basic unit for a relative reference frame used defined as the eigenvectors of the matrix
by traditional acupoint localization is usually defined by 2 3
m020 þ m002 2m110 2m101
‘Bone Proportional Measurement’ [4] between landmarks 6 7
on the human body. It makes the acupoint position suitable I¼6 4 2m110 m200 þ m002 2m011 7 5:
for everybody, no matter whether the boy is thin or fat or tall 2m101 2m011 m200 þ m020
or short.
To locate acupoints on a 3D human body model To a symmetry 3D image, the centroid is on the median
accurately, we design a temporary reference frame (TRF) longitudinal plane, while one of the principal axes of the image
to relate the absolute reference frame (ARF) of 3D medical is parallel to the normal direction of the median longitudinal
images to the relative reference frame (RRF) used in plane, as shown in Fig. 2.
traditional acupoint localization methods. Given the centroid ðgx ; gy ; gz Þ and the normal direction
ðpx ; py ; pz ÞT ; the parameters of the median longitudinal plane
2.1. General definition equation a·x þ b·y þ c·z ¼ 1 are:
2 3 2 3
a px
On a body or body image, we define the axis x of TRF as 6 7 1 6 7
6b7 ¼ 6p 7 ð1Þ
the orientation from right to left, the axis y from anterior to 4 5 px gx þ py gy þ pz gx 4 y 5
posterior and the axis z from inferior to superior Especially, c pz
in this paper, we set the origin of TRF on the midpoint Now, the resulted median longitudinal plane is considered
between the two eyebrows, as shown in Fig. 1. to be the plane yz of TRF.

2.2. Plane yz 2.3. Axis z and plane xz

One property of a human body is its left-right symmetry,
which is also expressed on the human body image. A method
based on the use of moments could help us to find the
median longitudinal plane [5].
The ði; P
j; kÞ-moment of a three-dimensional digital image
is mijk ¼ x;y;z xi yj zk f ðx; y; zÞ; where f ðx; y; zÞ is the grey
value function of the image. So the centroid ðgx ; gy ; gz Þ
is given by the first-order moments, that is ðgx ; gy ; gz Þ ¼
ðm100 =m000 ; m010 =m000 ; m001 =m000 Þ:
In order to define the axis z and the plane xz of TRF, we
proceed with the following steps:
† With the midpoint between the two eyebrows (point A)
and the corners of mouth (point B and C), the plane ABC
could be determined
† The intersecting line between the plane ABC and
the plane yz defined above is considered as the axis z
of TRF.

Fig. 1. Definition of TRF (1). Left: the position of the origin on a 3D virtual body. Right: the direction of the axes with the same view angle as the left.
 L. Zheng et al. / Image and Vision Computing 23 (2005) 1–9 3

Fig. 2. The symmetry property of a virtual head. Left: a symmetry slice of the head. Right: the principal axes of the virtual head, while P1 is considered to point
out the normal direction of the median longitudinal section.

† The plane through the axis z; which is perpendicular to xA0 2 xB z 0 2 zB

the plane yz; is determined as the plane xz; as shown in ¼ A ð2cÞ
xC 2 xB zC 2 zB
Fig. 3.
From Eqs. (2a) – (2c), the coordinate vector is
Given point AðxA ; yA ; zA Þ; point BðxB ; yB ; zB Þ; point
CðxC ; yC ; zC Þ and the median longitudinal plane, the plane 2 3 2 321 2 3
xA0 a b c 1
yzðayz ·x þ byz ·y þ cyz ·z ¼ 1; Þ then the intersecting point of 6 7 6 7 6 7
6 yA0 7 ¼ 6 yC 2yB xB 2xC 0 7 ·6 xB yC 2xC yB 7:
the line BC and the plane yz; point A0 ðxA0 ; yA0 ; zA0 Þ; satisfies 4 5 4 5 4 5
the following simultaneous equations zA 0 zC 2zB 0 xB 2xC xB zC 2xC zB

ayz ·xA0 þ byz ·yA0 þ cyz ·zA0 ð2aÞ The axis z coinciding with the line A0 A could be expressed as
the equation:
xA0 2 xB y 0 2 yB x2xA y2yA z2zA
¼ A ð2bÞ ¼ ¼ :
xC 2 xB yC 2 yB xA0 2xA yA0 2yA zA0 2zA

Fig. 3. Definition of TRF (2). Left: the position of the reference points (point A; B and C). Right: the relationship of the points, axes and planes. Note: point B
and C are not always on the plane xz:
4 L. Zheng et al. / Image and Vision Computing 23 (2005) 1–9

The plane xz; in which point A and point A0 are located, So the complete equation expressing the transformation
could be described as axz ·xþbxz ·yþcxz ·z ¼ 1: The para- from the Pðx; y; zÞ in ARF to the P0 ðx0 ; y0 ; z0 Þ in TRF is
meters axz ;bxz and cxz here satisfy the following simul- 2 03 2 3
taneous equations: x x
6 7 6 7
6 y0 7 6y7
axz ·ayz þbxz ·byz þcxz ·cyz ¼ 0 ð3aÞ 6 7 6 7
6 7 ¼ R·T·6 7
6 07 6 7
6z 7 6z7
4 5 4 5
axz ·xA0 þbxz ·yA0 þcxz ·zA0 ¼ 1 ð3bÞ 1 1
2 32 32 3
axz ·xA þbxz ·yA þcxz ·zA ¼ 0 ð3cÞ ux1 ux2 ux3 0 1 0 0 2xA x
6 76 76 7
6u 07 6 0 2yA 7 6 y 7
7 6
6 y1 uy2 uy3 7 60 1 7
Thus we get ¼66
7·6
76
7·6 7
76 7
6 uz1 uz2 uz3 07 6 1 2zA 7 6 7
4 5 40 0 54z5
2 3 2 321 2 3 0 0 0 1 0 0 0 1 1
axz ayz byz cyz 0
6 7 6 7 6 7 ð4cÞ
6 bxz 7 ¼ 6 xA0 yA0 zA0 7 6 7
4 5 4 5 ·4 1 5:
cxz x A y A zA 1 The complete coordinate transformation is then the
composite matrix R·T; while the coordinate transformation
from TRF to ARF is ðR·TÞ21 :

2.4. Reference frame transformation 3. Methods

!
The vector A0 A defines the direction of z of TRF, with The traditional methods for acupoints localization are
the
! corresponding
! unit vector uz ðuz1 ; uz2 ; uz3 Þ ¼ based on the measurement along the surface of a body with
ðA0 AÞ=ðlA0 AlÞ: The direction of x could be determined by ‘cun’, a traditional Chinese measure which varies in length
the normal to the plane yz; and the corresponding unit for different parts of the body. In common parlance, it is said
vector is ux that: ‘An acupoint is located at a distance of some ‘cun from
a certain landmark in particular direction….’ [4]. For
example, acupoint Quchai (BL 4) of the Bladder Meridian
ðayz ; byz ; cyz Þ
ðux1 ; ux2 ; ux3 Þ ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi : of Foot-Taiyang is on the head, 0.5 cun within the hairline,
a2yz þ b2yz þ c2yz 1.5 cun lateral to Shenting (DU 24), a point that is 0.5 cun
directly above the midpoint of the anterior hairline, as
shown in Fig. 4. The advantage of this kind of description is
The direction of y is calculated by the vector product of that we can ignore the rugged and uneven feature of a
u0z and u0x ; as uy ðuy1 ; uy2 ; uy3 Þ ¼ uz £ ux : Based on these human body surface. The landmarks for localizing acu-
three vectors, we can form the coordinate rotation matrix points are obvious, relatively fixed and universal to
from ARF to TRF [6], that is everybody, though there are some individual differences.
Similarly, for the reasons above, the reconstructed
2 3 surface from varied raw data would be totally different. If
ux1 ux2 ux3 0
6 7 using the 3D coordinates directly to express the position for
6u 07
6 y1 uy2 uy3 7
R¼6
6
7
7 ð4aÞ
6 uz1 uz2 uz3 07
4 5
0 0 0 1

The origin of TRF is AðxA ; yA ; zA Þ Then the coordinate

translation matrix from ARF to TRF is

2 3
1 0 0 2xA
6 7
60 2yA 7
6 1 0 7
T ¼6
6
7
7 ð4bÞ
60 0 1 2zA 7
4 5
0 0 0 1 Fig. 4. Several Acupoint labels from TCM.
 L. Zheng et al. / Image and Vision Computing 23 (2005) 1–9
each acupoint, it is difficult to apply the experience from the
TCM methods and hard to resolve the individual/data
differences. To solve the problems mentioned here, a 2D
acupoint description system is taken.
3.1. 2D acupoint description
Given a definite viewing direction, all visible points on
body surface have one projection plane that is perpendicular
to this direction These visible points have corresponding
projection points in this plane, and each projection point
could be back-projected to the body surface to get the
corresponding 3D coordinate.
In current research, there are three projection planes on
head for the 2D acupoint description system, as shown in
Fig. 5.
† Plane a is specially for locating the acupoints in the face.
It is a rectangle and covers the projection of the forehead,
the lower jaw and the outer canthi.
† Plane b is corresponding to the acupoints on the top-
head. It is part of a cylinder and covers the projection of
the forehead, the occiput and the temples.
† Plane g is for localizing acupoints on the side of the head.
It looks like a disk and is the projection plane of the
surface around the ear.
Fig. 5. 2D Acupoint description.
5
For the acupoints in different regions, corresponding
localization models are employed to describe them in TRF
based on the knowledge from TCM. When you need to
display acupoints on virtual human body, each point could
be back-projected to the body surface to get its 3D
coordinates. From now on, for convenience, the acupoints
localization is within the framework of 2D coordinate
description.
3.2. Model of median longitudinal circle
Traditionally the ‘vertical cun’ on the head is defined as
the surface distance from the anterior hairline to the
posterior hairline The right image of Fig. 6 shows the
definition of ‘vertical cun’ in Bone Proportional Measure-
ment, a commonly used method for locating acupoints.
Accordingly, the model of the median longitudinal circle is
given as follows.
Three points A; D and E; which are from the fixed
median longitudinal plane (plane yz), are taken to
determine the median longitudinal circle. As mentioned
above, point A is the midpoint between the two
eyebrows. Referring to Fig. 6, point D is the point at
the tip of the body in plane yz; which is easy to be
identified. It is a little bit complicated to get the third
point E; for neither tomograms nor 3D volume could
6 L. Zheng et al. / Image and Vision Computing 23 (2005) 1–9
Fig. 6. Model of median longitudinal circle. Left: the reference points (point A; D and E) on median longitudinal circle. Right: definition of ‘vertical cun’
from TCM.
show the hairlines. Now we try to tackle the problem in
another way. Generally, there is a groove between the
lower lip and the chin in the face. Through this groove
there is a plane parallel to the plane xy: Then the
intersecting point between this plane and the median
longitudinal plane at back is defined as the point E: Point
E could be considered as the midpoint of posterior
hairline.
Suppose point A; D and E are on the median longitudinal
circle, the center of the circle, point Oðx0 ; y0 ; z0 Þ; satisfies the
relation:
ðxi 2 x0 Þ2 þ ðyi 2 y0 Þ2 þ ðzi 2 z0 Þ2 ¼ r 2 ;
i ¼ A; D; E
 
 x 0 2 x A y 0 2 y A z0 2 zA 
 
 xD 2 xA yD 2 yA zD 2 zA  ¼ 0
 
x 2x y 2y z 2z  The coordinate plane xz is considered to be the projection
E A E A E A
where r is the radius of the median longitudinal circle.
Eq. (5a) indicates that the distances between O and the other
three points are equal. Eq. (5b) means point O is also on the
median longitudinal plane defined by point A; D and E:
Under the standards of Bone Proportional Measurement,
on the intersecting arc line between the head surface and the
median longitudinal plane, as Fig. 6 shows, the anterior
hairline is identified by a distance of 3 cun from the
midpoint of two eyebrows (point A), while point E is located
at a distance of 15 cunfrom point A: That means, we can
define the length of arc AOE as 15 cun on median
longitudinal circle.
Through the arc AOE; the cylinder that is perpendicular
to the plane yz of TRF is considered to be the projection
plane b: And 1/15 of arc AOE is taken as the ‘vertical cun’
standard on the head of a 3D human body model.
3.3. Model of face meshes
Under the standard of Bone Proportional Measurement, it
is 9 cun in horizontal between two corners of hairline As
hair cannot be displayed on a 3D medical image, we try to
find another way to determine the horizontal cun.
Let us look at some examples from the traditional
methods at first [4,7]. Referring to Fig. 4, Shenting (DU 24)
is 0.5 cun directly above the midpoint of anterior hairline.
Touwei (ST 8) is at the hairline of the forehead, 4.5 cun
lateral to Shenting (DU 24). And Toulinqi (GB 15) is 0.5
cun within the anterior hairline directly above the pupil, on
ð5aÞ the midpoint of the line connecting Shenting (DU 24) and
Touwei (ST 8). From the description above, we can
conclude that the pupil (point F) is 2.25 cun lateral to the
median longitudinal plane. We determine horizontal cun in
ð5bÞ
the face based on this knowledge.
plane a: Dividing the horizontal length of line AF by 2.25 is
taken as the ‘horizontal cun’ standard in the face. With the
‘horizontal cun’ standard for the face and the ‘vertical cun’
standard for the head, we get the model of face meshes on
the projection plane a; as shown in Fig. 7.
3.4. Model of bone projection
Usually the acupoints on the side-head are set using the
landmarks on the surface. Accordingly the model of bone
projection is applied to locate such acupoints, as shown in
Fig. 8.
3D medical volume of a human body not only shows the
surface of a body, but also contains its inner structures The
projection of some bone landmarks on plane yz could be tags
for localizing acupoints on 3D images. We define that
 L. Zheng et al. / Image and Vision Computing 23 (2005) 1–9 7

Fig. 7. Model of face meshes. Left: the position of the reference point F: Right: the coordinate meshes in the face of the 3D virtual body.

the position of mastoid process as point G; which is at a the hairline, 1.5 cun lateral to a point that is 0.5 cun
distance of 3 cun from point A in the direction y [4,7]. directly above the midpoint of the anterior hairline [4] So
The part of the plane yz; which is in the median it is on the top-head, with the coordinates 1.5 cun in
longitudinal circle, is considered to be the projection plane horizontal and 0.5 cun in vertical from the origin point A
g: And 1/3 of the length of line AG in direction y is the on plane b; as:
horizontal cun standard on the side of the head of a 3D
human body model.
Name Number Location (cun)
4. Results Horizontal Vertical

With the knowledge of traditional methods for locating Quchai BL 4 1.5 0.5
acupoints, we get a standardized 2D description of
acupoints in TRF.

4.1. Standardized 2D description The 2D description of all the 63 acupoints on head

surface is listed in the appendix. The list is suitable to any
For example, in typical acupoint terminology, acupoint individual, if we can get enough information about point A
Quchai (BL 4) is described as: on head, 0.5 cun within to point G mentioned above from the image data.

Fig. 8. Model of bone projection. Left: the position of the reference point G: Right: the coordinate meshes on the side-head of the 3D virtual body.
8 L. Zheng et al. / Image and Vision Computing 23 (2005) 1–9

Fig. 9. 3D description of Acupoints. Left: based on VOXEL-MAN: brain and skull. Right: based on VOXEL-MAN: visible human.

4.2. 3D expression There are a total of 63 acupoints on the surface of the

Finally, as shown in Fig. 9, after back-projection, a set
of acupoints on the head of the 3D virtual body are
clearly displayed. Especially, some work has been
done based on the data from Visible Human Project
(VHP) [2].
5. Discussion
Although acupuncture has a history of more than two
thousand years, up to now, there are only a few references
relating acupuncture to modern computer-based imaging.
The development of VHP and VOXEL-MAN give us the
opportunity to explore a new field like 3D medical imaging
integrated with acupuncture. This paper tries to offer a
simple and useful way to systemically localize acupoints on
the 3D virtual body.
head. It is troublesome to localize them one by one on
the virtual body. Meanwhile, because of the limitation of the
visual angle of the 3D image, the lack of being able to touch
the virtual body, and the quality of the visualization, even an
expert has to take some time to accurately localize an
acupoint on an image. The method proposed in this paper
lets the operator point out seven obvious landmarks
manually, and then systemically present the localization of
all acupoints.
Originally the method proposed here has been devel-
oped using the data of VOXEL-MAN: Brain and Skull.
To check the validation of the procedure, more work has
been done using the data of VOXEL-MAN: Visible
Human. The result seems to be acceptable to the doctors
we asked.
Of course, the work expressed in this paper is just
the beginning in a new field. The coordinates of the
acupoints under the standardized 2D description listed in

Table A1
Position of Acupoints in the face (Plane a)

Name Number Location (cun) Name Number Location (cun)

Horizontal Vertical Horizontal Vertical

Quanliao SI 18 3.5 2 Suliao DU 25 0 1.8

Chengqi ST 1 2.25 1 Shuigou DU 26 0 2.5
Sibai ST 2 2.25 1.5 Duiduan DU 27 0 3
Juliao ST 3 2.25 2.3 Jingming BL 1 0.75 0.8
Dicang ST 4 2.25 3.3 Zanzhu BL 2 0.75 0
Kouheliao LI 19 0.75 2.5 Sizhukong SJ 23 4.5 0
Yingxiang LI 20 1.1 2 Tongziliao GB 1 4.5 1
Chengjiang RN 24 0 4
 L. Zheng et al. / Image and Vision Computing 23 (2005) 1–9 9

Table A2
Position of Acupoints on the top-head (Plane b)

Name Number Location (cun) Name Number Location (cun)

Horizontal Vertical Horizontal Vertical

Yamen DU 15 0 11.5 Tongtian BL 7 1.5 4

Fengfu DU 16 0 11 Luoque BL 8 1.5 5.5
Naohu DU 17 0 9.5 Yuzhen BL 9 1.3 9.5
Qiangjian DU 18 0 8 Tianzhu BL 10 1.3 12
Houding DU 19 0 6.5 Benshen GB 13 3 0.5
Baihui DU 20 0 5 Yangbai GB 14 2.25 -2
Qianding DU 21 0 3.5 Toulinqi GB 15 2.25 0.5
Xinhui DU 22 0 2 Muchuang GB 16 2.25 1.5
Shangxing DU 23 0 1 Zhengying GB 17 2.25 2.5
Shenting DU 24 0 0.5 Chengling GB 18 2.25 4
Meichong BL 3 0.75 0.5 Naokong GB 19 2.25 9.5
Quchai BL 4 1.5 0.5 Fengchi GB 20 2.25 11
Wuchu BL 5 1.5 1 Touwei ST 8 4.5 0.5
Chengguang BL 6 1.5 2.5

Table A3
Position of Acupoints on the side-head (Plane g)

Name Number Location (cun) Name Number Location (cun)

Horizontal Vertical Horizontal Vertical

Daying ST 5 1.3 4.2 Shangguan GB 3 2 1.8

Jiache ST 6 1.8 3.8 (Touwei) ST 8 2 -1
Xiaguan ST 7 2 2.5 Hanyan GB 4 2.1 -0.5
Tinggong SI 19 2.3 2.5 Xuanlu GB 5 2.2 0
Yifeng SJ 17 2.6 3.5 Xuanli GB 6 2.3 0.5
Qimai SJ 18 3.5 3 Qubin GB 7 2.5 1.2
Luxi SJ 19 3.5 2 Shuaigu GB 8 3.2 -0.3
Jiaosun SJ 20 3.2 1.2 Tianchong GB 9 3.7 -0.3
Ermen SJ 21 2.3 2.3 Fubai GB 10 4 1
Erheliao SJ 22 2.5 1.5 Touqiaoyin GB 11 4 2.3
Tinghui GB 2 2.2 2.8 Wangu GB 12 3.5 3.5

the appendix could be further adjusted, if they were applied References

to more data.
Acknowledgements
We thank Martin Riemer and Andreas Pommert, IMI,
University Hospital Hamburg-Eppendorf, Germany,
for technical supporting of the VOXEL-MAN. We are
also grateful to Zhenguo Yan, who substantially provides the
knowledge of the Traditional Chinese Medicine.
Appendix A
Tables A1 – A3
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human anatomy and function, Nature Med. 1 (1995) 506–511.
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T. Schiemann, R. Schubert, U. Schumacher, U. Tiede, Creating a
high-resolution spatial/symbolic model of the inner organs based on the
visible human, Med. Image Anal. 5 (2001) 221–228.
[3] K.H. Höhne (Eds.), VOXEL-MAN, Part 1: Brain and Skull, Version
1.0, (CD-ROM for UNIX Workstations, ISBN 3-540-14517-6,
Springer, Berlin, 1995, Electronic Media, Heidelberg.
[4] Z.G. Yan (Eds.), English–Chinese Practical Anatomical Charts of
Acupuncture and Moxibustion, Publishing House of Shanghai
University of TCM, 1993.
[5] G. Lohmann, Volumetric Image Analysis, Wiley, New York, 1999,
pp. 53 –59.
[6] D. Hearn, M.P. Baker, Computer Graphics, second ed., Prentice Hall,
New Jersey, 1994.
[7] Z.G. Yan (Eds.), Normal Human Anatomy, Shanghai Scientific and
Technical Publishers, 1995 (in Chinese).