Comparison of freehand 3-D ultrasound calibration techniques using a stylus

In a freehand 3-D ultrasound system, a probe calibration is required to find the rigid body transformation from the corner of the B-scan to the electrical center of the position sensor. The most intuitive way to perform such a calibration is by locating fiducial points in the scan plane directly with a stylus. The main problem of this approach is the difficulty in aligning the tip of the stylus with the scan plane. The thick beamwidth makes the tip of the stylus visible in the B-scan, even if the tip is not exactly at the elevational center of the scan plane. We present a novel stylus and phantom that simplify the alignment process for more accurate probe calibration. We also compare our calibration techniques with a range of styli. We show that our stylus and cone phantom are both simple in design and can achieve a point reconstruction accuracy of 2.2 mm and 1.8 mm, respectively, an improvement from 3.2 mm and 3.6 mm with the sharp and spherical stylus. The performance of our cone stylus and phantom lie between the state-of-the-art Z-phantom and Cambridge phantom, where accuracies of 2.5 mm and 1.7 mm are achieved.