The code above does the following: it gets the voxel from coordinates 0,0,0 for all subjects, then computes a linear model relating that voxel to Genotype using standard R functions. Lastly it prints the results from that same voxel as computed by mincLm. This helps illustrate what the output of mincLm stores: the F-statistic is the same as can be found in the last line of the summary command, and the t-statistics for the Intercept and Genotype column can be found under "t-value" when using standard R functions.
mincGetVoxel needs three coordinates, given in voxel space in the same order as stored in the file. Just printing the voxel will show the corresponding world coordinates:
If the coordinates are specified in world coordinates then mincGetWorldVoxel is what you want - it also takes three coordinates, this time in world space in xspace,yspace,zspace order: