Calculating a calibration parameter for a robot tool

A calibration unit for calculating a calibration parameter for a robot tool, the calibration unit comprising:

• a first interface embodied for a first reception of an image dataset from medical imaging of an image volume, the image volume comprising a part of the robot tool and the robot tool is attached to a robot;
• a second interface embodied for a second reception of a robot dataset, the robot dataset comprising a position of at least one movable axis of the robot during a recording of the image dataset;
• and
• a computing unit embodied for determining at least one of a position and an orientation of a marking in the image dataset, said computing unit embodied for:
• calculating at least one of an image-based position and image-based orientation of a tool center point of the robot tool by transforming at least one of the position and the orientation of the marking;
• and
• calculating the calibration parameter based on the robot dataset and on at least one of the image-based position and the image-based orientation of the tool center point.

A robot, comprising:

• a calibration unit for calculating a calibration parameter for a robot tool, said calibration unit comprising:
• a first interface embodied for a first reception of an image dataset from medical imaging of an image volume, the image volume comprising a part of the robot tool and the robot tool is attached to a robot;
• a second interface embodied for a second reception of a robot dataset, the robot dataset comprising a position of at least one movable axis of the robot during a recording of the image dataset;
• and
• a computing unit embodied for determining at least one of a position and an orientation of a marking in the image dataset, said computing unit embodied for:
• calculating at least one of an image-based position and an image-based orientation of a tool center point of the robot tool by transforming at least one of the position and the orientation of the marking;
• and
• calculating a calibration parameter based on the robot dataset and on at least one of the image-based position and the image-based orientation of the tool center point.