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<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3 face=Calibri>Hi all,</FONT></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3><FONT face=Calibri><SPAN style="mso-spacerun: yes"> </SPAN>Sorry to interrupt you! </FONT></FONT></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3><FONT face=Calibri><SPAN style="mso-spacerun: yes"> </SPAN>Now I want to use the example "Navigator" in IGSTK to connect to the Robot. Before surgery, entry point and target point is defined in the image coordinate system, then they are transformed to the robot, and these two points must be defined in the robot coordinate system. I'm confused by the transformation relationship. Who can help me to solve this problem? Thank you advance for any help! </FONT></FONT></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3><FONT face=Calibri><SPAN style="mso-spacerun: yes"> </SPAN>The transformation relationship is showed in the figure of the accessory of the email. My original idea is:<SPAN style="mso-spacerun: yes"> </SPAN>Use tool1 (must be calibrated) as the registration tool. After registration, the transform, T<SUB>registration</SUB> can be obtained from the landmark registration and it defines transformation from the reference tool to the image coordinate system (Is it right?). After registration, Tool1 will not be used again, the tracked tool will be changed as Tool2, which fixed on the robot arm. T<SUB>cal</SUB> denotes the calibration transform of Tool2, T<SUB>tool2robot</SUB> denotes the transform from Tool2¡¯s tool tip to robot coordinate system. From page-139 of the IGSTK book, T<SUB>raw</SUB> and T<SUB>reference</SUB> transform can be got from the tracking device (by the way, I use the NDI vicra system as the tracking device). </FONT></FONT></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3 face=Calibri></FONT></SPAN> </P><SPAN lang=EN-US><FONT face=Calibri>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><?xml:namespace prefix = o ns = "urn:schemas-microsoft-com:office:office" /><o:p><FONT size=3></FONT></o:p></SPAN></FONT></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3><FONT face=Calibri><SPAN style="mso-spacerun: yes"> </SPAN>From the figure, it seems that the following formulation is correct:</FONT></FONT></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3><FONT face=Calibri><SPAN style="mso-spacerun: yes"> </SPAN>T<SUB>image2robot</SUB>*T<SUB>tool2robot</SUB><SUP>-1</SUP>*T<SUB>cal</SUB>*T<SUB>raw</SUB>*T<SUB>reference</SUB><SUP>-1</SUP>*T<SUB>registration</SUB> = I</FONT></FONT></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3><FONT face=Calibri><SPAN style="mso-spacerun: yes"> </SPAN>So, the transform T<SUB>image2robot</SUB> can be calculated, and the two points, entry point and target point also can be calculated from the image coordinate system to the robot coordinate system.</FONT></FONT></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3><FONT face=Calibri><SPAN style="mso-spacerun: yes"> </SPAN>If my idea is right, how to obtain the transform T<SUB>raw</SUB> and T<SUB>refercence</SUB> in IGSTK? If it is wrong, who can give me any advice? </FONT></FONT></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><o:p><FONT size=3 face=Calibri> </FONT></o:p></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3 face=Calibri>Thanks & Regards,</FONT></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><o:p><FONT size=3 face=Calibri> </FONT></o:p></SPAN></P>
<P style="MARGIN: 0cm 0cm 0pt" class=MsoNormal><SPAN lang=EN-US><FONT size=3 face=Calibri>Shuiling</FONT></SPAN></P> <br /><hr />Your E-mail and More On-the-Go. Get Windows Live Hotmail Free. <a href='https://signup.live.com/signup.aspx?id=60969' target='_new'>Sign up now.</a></body>
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