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A New Robust And Fully Automatic Technique For Calibration Of Three Dimensional ( 3d ) Freehand Ultrasound

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Abstract. The paper presents a new robust and fully automatic technique for calibration of three-dimensional (3D) freehand ultrasound. 3D Freehand ultrasound involves mounting a position sensor on a standard probe. The echo graphic B-scans can be localized in 3D, and can be compounded into dimensions. On the other hand, especially for quantitative use, this process requires a calibration procedure that fixes its accuracy and practicality. Calibration aims at defining the transformation (translations, rotations, scaling) among the coordinates system of the echo graphic images and the coordinate system of the localization system. We put forward a robust and fully automatic calibration method based on the Hough transform and robust estimators.
Index terms: robotic ultrasound, autonomous acquisition, rgb-d camera, B-scan, robustness. INTRODUCTION
In this work, we aim at closing the gap in the workflow of existing robotic support systems in order to allow for completely automatic 3D ultrasound acquisitions using a robotic imaging system. We present the pathway towards an autonomous robotic ultrasound system to help clinicians during interventions by performing multiple and especially reproducible examinations based on pre-interventional planning. As it is mostly non-invasive and has a real time capability and a comparatively low cost nature, 2D ultrasound is popular. Its major shortcoming is its weak capability of issuing quantitative

accurate

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