[IGSTK-Users] Pivot Calibration

[Yaniv, Ziv Rafael (NIH/NLM/LHC) [C]]

Hello Jack,

For some tool shapes performing pivot calibration is simply hard because
of their physical shape and the position of the dynamic reference frame
(DRF) attached to the tool.

A potential solution assuming you have access to a high quality (accurate)
3D printer, if not there are online vendors who will print things out if
you send them an STL file:
0. You have the CAD description for your L shaped tool.
1. Design a wrapper which will exactly encase the L, and which creates a
temporary tool with a straight tip. You need to know the exact tip
location of your L inside the wrapper, this is from the CAD design.
2. Pivot calibrate the wrapped tool. You have the location of the
wrapper¹s tip with respect the DRF and you know the location of the L¹s
tip with respect to the wrapper¹s tip from your CAD design. This gives you
the L¹s tip with respect to the DRF.

    hope this helped
       Ziv




On 2/14/17, 4:36 PM, "Jack Foley Moore via IGSTK-Users"
<igstk-users at public.kitware.com> wrote:

>I¹m currently trying to change our tool calibration method for a live
>imaging software, which uses the igstkPivotCalibrationFLTKWidget class,
>and I¹m struggling to get an accurate pivot point because of the shape of
>the tool I¹m using.
>The tool isn¹t shaped in an L shape, in which the tracker is attached to
>a roughly 6 inch tool where at the end the tip of the tool goes
>perpendicular to the tool and sticks out about another inch.  This is
>very different than the shape of the tool described in the IGSTK book in
>the example, and our final pivot point is usually off by about 2-3mm in
>the direction of the tracker.
>Has anyone encountered this problem as well and found a solution?
>Thank you,
>Jack Moore
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