Ultrasound Calibration for Dual-Armed Surgical Navigation System

Figure 7

Ultrasound image processing and feature detection. (a) Original ultrasound image. (b) The edge detection for feature circle and lines. (c) The extension of the detected circle and lines for feature points based on the design of the calibration phantom. (d) The detection of the feature points corresponding to the calibration phantom.

(a)

(b)

(c)

(d)