Enabling technologies for robot assisted ultrasound tomography: System setup and calibration

Fereshteh Aalamifar, Rishabh Khurana, Alexis Cheng, Russell H. Taylor, Iulian Iordachita, Emad M. Boctor

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

10 Scopus citations


In this study, we are proposing a robot-assisted ultrasound tomography system that can offer soft tissue tomographic imaging and deeper or faster scan of the anatomy. This system consists of a robot-held ultrasound probe that tracks the position of another freehand probe, trying to align with it. One of the major challenges is achieving proper alignment of the two ultrasound probes. To enable proper alignment, two ultrasound calibrations and one hand-eye calibration are required. However, the system functionality and design is such that the ultrasound calibrations have become a challenge. In this paper, after providing an overview of the proposed robotic ultrasound tomography system, we focus on the calibrations problem. The results of the calibrations show a point reconstruction precision of a few millimeters for the current prototype, and the two images have at least 50% overlap visually; confirming the feasibility of such a system relying on accurate probe alignments.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2014
Subtitle of host publicationUltrasonic Imaging and Tomography
ISBN (Print)9780819498335
StatePublished - Jan 1 2014
EventMedical Imaging 2014: Ultrasonic Imaging and Tomography - 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: Ultrasonic Imaging and Tomography
Country/TerritoryUnited States
CitySan Diego, CA


  • robotic ultrasound
  • tracked ultrasound
  • ultrasound calibration
  • ultrasound tomography

ASJC Scopus subject areas

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


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