A Cone Based Electromagnetic 3D Ultrasound Calibration

摘要

For a surgical navigation system with swept-volume 3D ultrasound images, it is necessary to estimate the extracted positions of ultrasound voxels relative to a tracking reference by a 3D ultrasound calibration. In this paper, we propose a cone based 3D ultrasound calibration system by using an electromagnetic tracking device. The proposed phantom is not expensive, easy to construct, easy to scan, and has a simple experiment setup, while the identification of the tips on each cone from a single ultrasound volume is a manual process, the tracking position of each tip is measured by a pen probe, and the calibration matrix is estimated by SVD (Singular Value Decomposition) method. The precision of the system is experimentally evaluated. It turns out that the maximum distance root mean square (RMS) error is 3.32 mm by using 12 cones, which satisfies the requirement of our fetal surgical navigation system: less than 3.85 mm.