Figure 3
From: 3D ultrasound guided navigation system with hybrid image fusion
Set-up of the MR calibration. The coordinates of the calibraion phantom are measured respect to the MR reference tool with a calibrated pointer tool. This enables to determine the transformation \(T_{\small MR}^{\small ORF_{MR}}\) from the MR-image coordinate system to the coordinate system of the optical tool mounted on the gantry of the MR.
