Robot-assisted automatic ultrasound calibration.

Journal: International journal of computer assisted radiology and surgery
Published Date: Jan 11, 2016

Abstract

PURPOSE: Ultrasound (US) calibration is the process of determining the unknown transformation from a coordinate frame such as the robot's tooltip to the US image frame and is a necessary task for any robotic or tracked US system. US calibration requires submillimeter-range accuracy for most applications, but it is a time-consuming and repetitive task. We provide a new framework for automatic US calibration with robot assistance and without the need for temporal calibration.

Authors

  • Fereshteh Aalamifar
    Laboratory for Computational Sensing and Robotics (LCSR), The Johns Hopkins University, Baltimore, MD, USA.
  • Alexis Cheng
    Johns Hopkins University, Baltimore, MD, USA.
  • Younsu Kim
    Johns Hopkins University, Baltimore, MD, USA.
  • Xiao Hu
    Nell Hodgson Woodruff School of Nursing, Emory University, Atlanta, United States.
  • Haichong K Zhang
    Johns Hopkins University, Baltimore, MD, USA.
  • Xiaoyu Guo
    Johns Hopkins University, Baltimore, MD, USA.
  • Emad M Boctor
    Johns Hopkins University, Baltimore, MD, USA.

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