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. Author manuscript; available in PMC: 2023 Nov 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2022 Aug 4;4(4):901–909. doi: 10.1109/tmrb.2022.3196321

Fig. 3:

Fig. 3:

(a) System calibration scheme. Coordinate frames are marked as red cross arrows. Key transformations are shown in blue arrows. The 3D model of injection device for 2D/3D registration is illustrated on top. (b) An example X-ray image used for hand-eye calibration. Example BBs are marked in a red circle. (c) An example X-ray image used for needle calibration. The needle tip and base points are marked in red circles.