Calibration Technique for Freehand 3-D Ultrasound System

3차원 초음파 시스템의 캘리브레이션 방법

  • Hwang, Myun Joong (School of Mechanical & Automotive Engineering, Halla University)
  • 황면중 (한라대학교 기계자동차공학부)
  • Received : 2013.08.30
  • Accepted : 2013.12.05
  • Published : 2013.12.31


This paper proposes a calibration method for a freehand 3-D ultrasound system in medical robotic research. The calibration block with six wires was designed to set the fixed target points. The positions of the ultrasound probe and calibration block were measured using an optical tracker. The relationship between the position of the ultrasound probe and the pixel coordinates in the images was derived using a calibration process. The scaling matrix was also calculated. The experimental results showed that the proposed method could find solutions using a simple least square method from one or multiple ultrasound images.


Calibration;Image-guidance robot;Ultrasound


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