Journal of the Korea Academia-Industrial cooperation Society (한국산학기술학회논문지)

The Korea Academia-Industrial cooperation Society (한국산학기술학회)
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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
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Abstract

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.

본 논문에서는 의료용 초음파를 이용하는 로봇 시스템을 위한 3차원 캘리브레이션 방법을 제안한다. 고정된 기준점을 구성하기 위한 캘리브레이션 블록을 제작한 후 옵티컬 트래커(optical tracker)를 이용하여 초음파 프루브(probe)의 위치와 기준점의 위치를 측정한다. 초음파 영상의 픽셀 좌표와 센서로 측정된 위치를 비교하여 6개의 파라미터로 이루어진 초음파 프루브와 영상 내의 픽셀 좌표와의 관계 행렬을 구하고 2개의 파라미터로 이루어진 스케일링 행렬을 계산한다. 정밀한 캘리브레이션을 위해 캘리브레이션 블록 내부 모양과 매질 선택에 대한 적절성을 실험을 통해 검증한다. 제안된 방법은 간단한 형태의 캘리브레이션 블록과 옵티컬 트래커를 사용하여 설치에 많은 시간이 필요하지 않는 장점이 있기 때문에 초음파 영상을 이용하는 로봇 작업에 널리 적용이 가능하다.

Keywords

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