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. Author manuscript; available in PMC: 2019 Sep 4.
Published in final edited form as: J Med Robot Res. 2018 May 15;4(2):1950001. doi: 10.1142/S2424905X19500016

Fig. 7.

Fig. 7.

Kinematic transformation chain for registering the robotic system to the MR scanner coordinate system (RAS coordinates) based on imaging of the fiducial frame (Z-Frame).