Request needle guide pose to set the scan plane for real-time MR scan #34
Description
This can be requested after the needle is in the targeting pose.
Slicer sends a string command with the device name (ENTRY_POSE) to the robot after the flag for is_in_targeting_pos is turned to true.
The robot replies by sending a Transform with the device name ENTRY_POSE to the Slicer. This transform indicates the position and orientation of the expected entry point of the needle to the tissue. The Slicer can use this info to initialize the initial Pose of the scan plane for the real-time MR scans.