Ultrasound Calibration for Dual-Armed Surgical Navigation System

Table 1

The symbols for the coordinate system and transformation.

Symbol	Description
	Robotic arm with ultrasound transducer
	Robotic arm with tool
	base coordinate system
	base coordinate system
	Ultrasound image coordinate system
	Calibration phantom coordinate system
	Standard stylus coordinate system
	Target in ultrasound image coordinate system
	Target in standard stylus coordinate system
	Transformation from ultrasound image to
	Transformation from to
	Transformation from robotic to standard stylus
	Ultrasound image pixel size