Tracked ultrasound calibration studies with a phantom made of LEGO® bricks

Purpose: In this study, spatial calibration of tracked ultrasound was compared by using a calibration phantom made of LEGO® bricks and two 3-D printed N-wire phantoms. Methods: The accuracy and variance of calibrations were compared under a variety of operating conditions. Twenty trials were performed using an electromagnetic tracking device with a linear probe and three trials were performed using varied probes, varied tracking devices and the three aforementioned phantoms. The accuracy and variance of spatial calibrations found through the standard deviation and error of the 3-D image reprojection were used to compare the calibrations produced from the phantoms. Results: This study found no significant difference between the measured variables of the calibrations. The average standard deviation of multiple 3-D image reprojections with the highest performing printed phantom and those from the phantom made of LEGO® bricks differed by 0.05 mm and the error of the reprojections differed by 0.13 mm. Conclusion: Given that the phantom made of LEGO® bricks is significantly less expensive, more readily available, and more easily modified than precision-machined N-wire phantoms, it prompts to be a viable calibration tool especially for quick laboratory research and proof of concept implementations of tracked ultrasound navigation.