Design and development of an ultrasound calibration phantom and system

Alexis Cheng, Martin K. Ackerman, Gregory S. Chirikjian, Emad M. Boctor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


Image-guided surgery systems are often used to provide surgeons with informational support. Due to several unique advantages such as ease of use, real-time image acquisition, and no ionizing radiation, ultrasound is a common medical imaging modality used in image-guided surgery systems. To perform advanced forms of guidance with ultrasound, such as virtual image overlays or automated robotic actuation, an ultrasound calibration process must be performed. This process recovers the rigid body transformation between a tracked marker attached to the ultrasound transducer and the ultrasound image. A phantom or model with known geometry is also required. In this work, we design and test an ultrasound calibration phantom and software. The two main considerations in this work are utilizing our knowledge of ultrasound physics to design the phantom and delivering an easy to use calibration process to the user. We explore the use of a three-dimensional printer to create the phantom in its entirety without need for user assembly. We have also developed software to automatically segment the three-dimensional printed rods from the ultrasound image by leveraging knowledge about the shape and scale of the phantom. In this work, we present preliminary results from using this phantom to perform ultrasound calibration. To test the efficacy of our method, we match the projection of the points segmented from the image to the known model and calculate a sum squared difference between each point for several combinations of motion generation and filtering methods. The best performing combination of motion and filtering techniques had an error of 1.56 mm and a standard deviation of 1.02 mm.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2014
Subtitle of host publicationImage-Guided Procedures, Robotic Interventions, and Modeling
ISBN (Print)9780819498298
StatePublished - 2014
EventMedical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling - San Diego, CA, United States
Duration: Feb 18 2014Feb 20 2014

Publication series

NameProgress in Biomedical Optics and Imaging - Proceedings of SPIE
ISSN (Print)1605-7422


OtherMedical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling
Country/TerritoryUnited States
CitySan Diego, CA

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Atomic and Molecular Physics, and Optics
  • Radiology Nuclear Medicine and imaging
  • Biomaterials


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