Registration

What is this step about?

You may have realized that the model of the patient on 3D Slicer is not correctly positioned relative to the robot. This is because the spatial relationship between the robot and the patient is unknown to 3D Slicer at this point. To estimate the relationship, we will run a process called "registration" or "calibration". In this tutorial, we will use "point-based" registration, where a set of corresponding points on the physical patient (in our case, the model on rviz) and the imaged (model) patient on 3D Slicer are localized in the robot coordinate system and the image coordinate system, and the transformation matrix between the robot coordinate system and the image coordinate system using them.

Setting Up 3D Slicer

To begin the process, we setup 3D Slicer as follows:

• Open "Fiducial Registration Wizard" from the Modules menu.