How to do? Step by Step explanation pls. Thank you!

A da Vinei surgical system 1s used to perform a tumor remove procedure, as illustrated in the following schematics. The camera sees both the tumor and the scalpel in the same 3D workspace. The position of the tumor 1s Pt (3, 11, 6) (cm), while the position of the scalpel 1s Ps (0, 21. 9) (cm) in the camera frame. We know a) The tool frame's origin 1s (5, 3, 10) (m) in the base frame: b) There 1s both translation and rotation from the base to the tool frame. The rotation 1s 30 degrees 1n xy plane, counterclockwise; c) The camera frame's origin 1s (7, 9. 2) (cm) in the tool frame. There 1s only translation and no rotation from the tool to the camera frame. Camera frame Base fram Answer the following questions: 1) What are the coordinates of the scalpel in the tool frame and the base frame? [4 points] 2) What are the coordinates of the tumor in the tool frame and the base frame? [4 points] 3) If a spherical coordinate frame is defined to have the same origin with the base frame, what 1s the spherical coordinate of the scalpel's position in the base frame in [, 6, @] (unit)? [4 points, don't forget to specify the unit] 4) If we draw a vector from the scalpel and point it to the tumor, what 1s the representation of this vector in the base frame in [X, Y, Z] (unit)? [3 points, don't forget to specify the unit]