Please help me translate the following into English：实现医学图像坐标系到世界空间坐标系的转换即求解出CT图像坐标系CT到世界空间坐标系W的转换矩阵其表达式如式1 1式中是个性化标记物坐标系M到单目相机所定义的世界空间坐标系的转换矩阵可通过单目相机基于视觉跟踪识别标记物获得；为二维X光图像坐标系X到三维CT图像坐标系的转换矩阵可由2D3D图像配准

To achieve the conversion from the medical image coordinate system to the world space coordinate system, the transformation matrix from the CT image coordinate system (CT) to the world space coordinate system (W) needs to be solved, which can be expressed as equation (1): (1) In the equation, the matrix is the transformation matrix from the personalized marker coordinate system (M) to the world space coordinate system defined by the monocular camera, which can be obtained by the monocular camera based on visual tracking to identify the marker. The matrix is the transformation matrix from the two-dimensional X-ray image coordinate system (X) to the three-dimensional CT image coordinate system, which can be obtained by 2D/3D image registration. The matrix is the transformation matrix from the personalized marker to the two-dimensional X-ray image coordinate system, which needs to be solved by determining the pose of the marker in the X-ray image