Comparing calibration approaches for 3D ultrasound probes

Bergmeir, Christoph; Seitel, Mathias; Frank, Christian; Simone, Raffaele De; Meinzer, Hans-Peter; Wolf, Ivo

doi:10.1007/s11548-008-0258-x

Cited by 20 publications

(20 citation statements)

References 23 publications

(39 reference statements)

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“…[1], [11] and [4] respectively found a RMS targeting point error of 3.5mm by using 12 2D images, 2.37mm with 56 US volumes and 2.0mm with 36 US volumes. These hand-eye methods use accurate 3D localizers to obtain B i matrices and registration tools to obtain A i matrices.…”

Section: Robot Experimentsmentioning

confidence: 99%

“…In a majority of medical applications, the calibration of the probe is needed to register all data in the same mathematical space. To overcome this shortcoming the literature mainly presents two types of calibration techniques using external 3D localizers [1]. In these techniques, a tracking reference frame is fixed on the probe and US volumes are acquired from a tracked phantom immersed in a water bath, as it explained in [1], [2] and [3], or by directly registering US volumes [4].…”

Section: Introductionmentioning

confidence: 99%

“…The calibration methods describe above have the drawbacks of requiring an external equipment such as tracking device and calibration rig. The reference frame fixed *This work is supported by Koelis, ANRT and ANR grants (PROSBOT project ANR-11-TECS-0017 and CAMI labex ANR-11-LBX-0004) 1 firstname.name@imag.fr on the probe has to be detected by the tracking device which generally comes with a loss of movements' freedom. The use of large water basin or any other bulky device may also be problematic for day to day clinical use or involve additional electrical risks.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers

Sarrazin

Promayon

Baumann³

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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Abstract-3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intraoperative volumes. In surgical navigation applications a calibration step is needed to localize the probe in a general coordinate system. This paper presents a new hand-eye calibration method using directly the kinematic model of a robot and US volume registration data that does not require any 3D localizers. First results show a targeting error of 2.34 mm on an experimental setup using manual segmentation of five beads in ten US volumes.

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Section: Robot Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers

Sarrazin

Promayon

Baumann³

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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show abstract

“…Usually, calibration methods are classified with respect to the target geometry (a phantom) they rely on. 3D US calibration methods using a 3D US probe have been reviewed specifically in [6], [7].…”

Section: Overview Of 3d Ultrasound Calibration Methodsmentioning

confidence: 99%

Locating Fetal Facial Surface, Oral Cavity and Airways by a 3D Ultrasound Calibration Using a Novel Cones' Phantom

Ohya

Sato

et al. 2014

IEICE Trans. Inf. & Syst.

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SUMMARYToward the actualization of an automatic navigation system for fetoscopic tracheal occlusion (FETO) surgery, this paper proposes a 3D ultrasound (US) calibration-based approach that can locate the fetal facial surface, oral cavity, and airways by a registration between a 3D fetal model and 3D US images. The proposed approach consists of an offline process and online process. The offline process first reconstructs the 3D fetal model with the anatomies of the oral cavity and airways. Then, a point-based 3D US calibration system based on real-time 3D US images, an electromagnetic (EM) tracking device, and a novel cones' phantom, computes the matrix that transforms the 3D US image space into the world coordinate system. In the online process, by scanning the mother's body with a 3D US probe, 3D US images containing the fetus are obtained. The fetal facial surface extracted from the 3D US images is registered to the 3D fetal model using an ICP-based (iterative closest point) algorithm and the calibration matrices, so that the fetal facial surface as well as the oral cavity and airways are located. The results indicate that the 3D US calibration system achieves an FRE (fiducial registration error) of 1.49±0.44 mm and a TRE (target registration error) of 1.81±0.56 mm by using 24 fiducial points from two US volumes. A mean TRE of 1.55±0.46 mm is also achieved for measuring location accuracy of the 3D fetal facial surface extracted from 3D US images by 14 target markers, and mean location errors of 2.51±0.47 mm and 3.04±0.59 mm are achieved for indirectly measuring location accuracy of the pharynx and the entrance of the trachea, respectively, which satisfy the requirement of the FETO surgery. key words: 3D location, fetal oral cavity and airways, 3D ultrasound calibration, iterative closest point algorithm, 3D fetal model, 3D electromagnetic tracking device

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“…Other reviews have been done specifically for the calibration of 3D US, which compare new methods made possible through the use of a 3D probe. 3,4 Among methods for the calibration of a US probe, there are two commonly used categories of techniques: phantom-based and tracked stylus-based. There are numerous phantom-based calibration methods.…”

Section: Introductionmentioning

confidence: 99%

Calibration of 3D ultrasound to an electromagnetic tracking system

2011

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The use of electromagnetic (EM) tracking is an important guidance tool that can be used to aid procedures requiring accurate localization such as needle injections or catheter guidance. Using EM tracking, the information from different modalities can be easily combined using pre-procedural calibration information. These calibrations are performed individually, per modality, allowing different imaging systems to be mixed and matched according to the procedure at hand. In this work, a framework for the calibration of a 3D transesophageal echocardiography probe to EM tracking is developed. The complete calibration framework includes three required steps: data acquisition, needle segmentation, and calibration. Ultrasound (US) images of an EM tracked needle must be acquired with the position of the needles in each volume subsequently extracted by segmentation. The calibration transformation is determined through a registration between the segmented points and the recorded EM needle positions. Additionally, the speed of sound is compensated for since calibration is performed in water that has a different speed then is assumed by the US machine. A statistical validation framework has also been developed to provide further information related to the accuracy and consistency of the calibration. Further validation of the calibration showed an accuracy of 1.39 mm.

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Comparing calibration approaches for 3D ultrasound probes

Abstract: Our results indicate that taking additional scans leads to a significant improvement in the calibration. Furthermore, the obtained calibration and reconstruction precisions suggest the use of a TP.

Cited by 20 publications

References 23 publications

Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers

Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers

Locating Fetal Facial Surface, Oral Cavity and Airways by a 3D Ultrasound Calibration Using a Novel Cones' Phantom

Calibration of 3D ultrasound to an electromagnetic tracking system

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