Immediate ultrasound calibration with three poses and minimal image processing

This paper introduces a novel method for ultrasound (US) probe calibration based on closed-form formulation and using minimal US imaging allowing for an immediate result. Prior to calibration, a position sensor is used to track each image in 3D space while the US image is used to determine target location within the image. The calibration procedure uses these two pieces of information to determine the transformation (translation, rotation, and scaling) of the scan plane with respect to the position sensor. We utilize a closed form solution from two motions of the US probe relying on optical digitization with a calibrated pointer to replace with a great extent the traditional segmentation of points/planes in US images. The tracked pointer appeared to introduce significantly less error than the resolution of the US image caused in earlier approaches. Our method also uses significantly fewer US images and requires only minimal image segmentation, or none with a special probe attachment.