Ultrasound Calibration for Dual-Armed Surgical Navigation System

Figure 1

The flowchart of the calibration system. The procedures include four phases: the hardware calibration, the operation, the operation, and the system validation. The hardware calibration included: (a) The transformation between the US image and was calculated via the US image and the designed geometry of the calibration phantom. (b) The transformation between and was obtained by pointing a set of points on one comment target. For procedures (1) to (4), the coordinate system transformation from the US image to two arms was applied from hardware calibration (a, b). (1) The calibration phantom was scanned by . (2) The coordinate system transformation was applied from US image to . (3) The base-to-base transformation was applied from to . (4) The with the standard stylus was moved to the target position via US image planned path from (1). (5) The system was validated by the difference between the target point and the standard stylus point.