Model Registration Using Singular Points

Support
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Operating system: Windows 10 build 17763.775
Slicer version: 4.10.2

Expected behavior: I currently have 2 main transforms within my scene: NeedleToReference and PhantomToReference. Within the NeedleToReference transform, I have another transformation that maps the NeedleTipToNeedle. I would like to place some spherical models inside the phantom. As I can locate the center of the sphere position within the phantom using the needle tip I was thinking of placing fiducial points in 3D space using the needle tip, finding the linear transform between the marker and my phantom tracker, and placing a spherical model in the Transform Hierarchy in the Data module.

Actual behavior: I am currently unsure about how to calculate the transformation between the fiducial point relative to the phantom position sensor.

Any help on the issue would be greatly appreciated!

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The process for landmark-based object registration using a tracked stylus is described in detail in SlicerIGT tutorials (“Pivot calibration” and “Landmark registration”).