Implement IEC coordinate system logic
As in http://perk.cs.queensu.ca/sites/perkd7.cs.queensu.ca/files/Suriyakumar2017a.pdf Figure 5
Check Figure 3 for transformation matrices, and Slicer3D github code
Or, include it as external library https://github.com/SlicerRt/SlicerRT/blob/master/Beams/Logic/vtkSlicerIECTransformLogic.h