Yes, you can make PHP behave like LISP ;-)
By using the eval() fcuntion. It takes a string as an argument and interprets it as PHP code.
for ($i=0; $i<count($_SESSION['order']); $i++)
{
eval("\$pose" . $i . "=\"$i\";");
}
Edit: that code probably won't work, not sure exactly what you want. But you should get the gist.