“…Therefore, in the preparation stage, the first task was to determine the transformation matrix from the raw B‐mode ultrasound image to the coordinate of the reconstructed image. The matrix can be described as
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where c T p represents the transformation matrix from the coordinate system of subscript ( p ) to the coordinate system of superscript ( c ). As shown in Figure 1b, there are four coordinate systems, including the raw B‐mode ultrasound image ( p ), reconstructed image ( c ), transmitter ( t ), and receiver ( r ) of the spatial device.…”