Biomedical Engineering Reference
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Fig. 8.3 Calibration of laser scanner to robot. a Instead of a direct calibration, a reference image
of the calibration phantom is used for calibration. b When we shift the reference image into the
origin of the laser scanner coordinate frame, we can compute the required transform
For coil registration, the transformation E T C from the robot's end effector E to
the coil C is estimated. We must therefore use the calculated transformation from
robot to laser scanner R T L to register the coil. Again, we use the reference image
of the coil C ref virtually placed into the origin of the laser scanner to compute the
coil registration matrix:
E T C ¼ E T R R T L L T C ref C ref T C :
ð 8 : 2 Þ
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