An Automated Calibration Method of Ultrasonic Probe Based on Coherent Point Drift Algorithm

作     者：Wang, Lifeng Wang, Tianmiao Liu, Hongpeng Hu, Lei Han, Zhonghao Liu, Wenyong Guo, Na Qi, Yansong Xu, Yongsheng 

作者机构：Beihang Univ Sch Mech Engn & Automat Beijing 100183 Peoples R China Beihang Univ Sch Biol Sci & Med Engn Beijing 100183 Peoples R China Beihang Univ Beijing Adv Innovat Ctr Biomed Engn Beijing 100183 Peoples R China Inner Mongolia Peoples Hosp Dept Orthoped Hohhot 010017 Peoples R China 

出 版 物：《IEEE ACCESS》 (IEEE Access)

年 卷 期：2018年第6卷

页      面：8657-8665页

核心收录：

基　　金：National Hi-Tech Research and Development Program of China (863 Program) [2015AA043204] National Natural Science Foundation of China [61333019, 81560374] Beijing Natural Science Foundation [Z170001] National Science and Technology Major Project of China [2014ZX04013011] 

主　　题：Coherent point drift point cloud-based registration ultrasound probe calibration 

摘      要：Ultrasound-based navigation, as a non-invasive and non-radiation image guiding system, is becoming a research focus in minimally invasive navigation surgery, and calibration between an ultrasonic probe and a 3D vision device is one of the key technologies for ultrasonic registration-based navigation. In this paper, a phantom model was designed as a benchmark for calibration. Both iterative closet point (ICP) and coherent point drift (CPD) algorithms are chosen as point cloud registration methods to implement calibration between ultrasonic scanned points and original phantom points to set up the relationship between the ultrasonic probe and the 3D vision device. Because of large topological difference between the ultrasound scanned points and the points from model, ICP algorithm cannot complete the registration, but the CPD algorithm could implement the registration automatically. The average errors of the center point position for each cavity were 1.50, 1.31, and 1.19 mm, respectively, and the average errors of the axis for each cavity were 0.85 degrees, 0.61 degrees, and 0.99 degrees, respectively. Experiment results showed that the average error of calibration by this method satisfies acquirements of most orthopedic surgeries, and the fully automatic implementation of ultrasonic image processing and subsequent calculation is suitable for on-line calibration and verification in surgery.