CN103110429A - Optical calibration method of ultrasonic probe - Google Patents
Optical calibration method of ultrasonic probe Download PDFInfo
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- CN103110429A CN103110429A CN2012101914665A CN201210191466A CN103110429A CN 103110429 A CN103110429 A CN 103110429A CN 2012101914665 A CN2012101914665 A CN 2012101914665A CN 201210191466 A CN201210191466 A CN 201210191466A CN 103110429 A CN103110429 A CN 103110429A
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Abstract
The invention discloses an optical calibration method of an ultrasonic probe. The optical calibration method of the ultrasonic probe includes the following steps: (1) pasting character identification points on the ultrasonic probe, (2) fixing a three-dimensional calibration template and optical positioning equipment, (3) and holding the ultrasonic probe in hand to scan the three-dimensional calibration template, obtaining a space gesture of the ultrasonic probe by using the optical positioning equipment at the time of every time gathering ultrasound images to obtain original data and calibrating the ultrasonic probe by using a least square method. Compared with a traditional electromagnetic calibration method, the optical calibration method of the ultrasonic probe has the advantages that calibration results are more accurate, due to the fact that in the process of calculation only an unknown number exists (an unknown transformation matrix), complexity of calibration calculation is reduced, the optical calibration method of the ultrasonic probe can be applied into various types of ultrasound probes, equipment is simple and convenient and range of application is wide. The optical positioning equipment is used for obtaining the gesture of the ultrasonic probe, influence of power cords is not needed to consider and calibration range is wider, and the optical positioning equipment does not have a problem of electromagnetic compatibility in a surgical navigation environment.
Description
Technical field
The present invention relates to a kind of optical calibrating method, relate in particular to a kind of optical calibrating method of ultrasound probe.
Background technology
Existing Manual three-dimensional ultrasonoscopy scaling method based on magnetic locator: fix an electromagnetic receiver on ultrasonic probe, utilize the electromagnetic location device to obtain this receptor with respect to the spatial information of emitter, set up ultrasonoscopy coordinate system I, receptor coordinate system R, transmitter coordinate system T, four coordinate systems of template coordinate system C, calibration formula be P (C)=
CT
T TT
R RT
IP (I), wherein
TT
RRepresent electromagnetic receiver to the transformation matrix of emitter, the template coordinate P (C) of the ultrasonoscopy coordinate P (I) of known spatial point, correspondence and each measurement
TT
R, utilize method of least square to obtain spatial mappings relation between receptor and ultrasonoscopy
CT
TWith
RT
I
There is following problem in Manual three-dimensional ultrasonoscopy scaling method based on magnetic locator:
(1) the N shape calibrating template of design is the calibrating template of two dimension in the space, and the calibrating template coordinate that obtains lacks the spatial information of the third dimension;
(2) calibration formula P (C)=
CT
T*
TT
R*
RT
I* the unknown quantity in P (I) has
CT
TWith
RT
ITwo, calculate comparatively complexity, need to gather several uncalibrated images;
(3) acquiescence replaces the ultrasonic probe coordinate system with the receptor coordinate system, may have mapping fault;
(4) need to be on ultrasonic probe the Motionless electromagnetic receptor, active receiving restriction, and need to be equipped with the electromagnetic location device of different size for the ultrasonic probe of different model makes equipment complicated, adaptability is not high;
(5) there is electromagnetic compatibility problem in electromagnetic location equipment in surgical navigational is used.
Summary of the invention
The present invention is directed to the proposition of above problem, and a kind of ultrasound probe scaling method of development has following steps:
S1. choose two pieces of identical cameras that optical axis is parallel to each other, as optical positioning device, with the photocentre of a side camera as coordinate origin, the photocentre connecting line of two pieces of cameras is X-axis, with the optical axis of this camera as Z axis, set up rectangular coordinate system in space, as optical positioning device coordinate system C;
S2. choose and fix two identical rectangular frames, make two relative faces in described 2 virtual cuboids of rectangular frame Special composition, use many to demarcate each end points that straight line connects described two rectangular frames, as the stereo calibration template, choose a summit in described two rectangular frames as initial point, set up rectangular coordinate system in space, as stereo calibration template coordinate system M;
S3. choose the ultrasound probe of a 2D, paste at least three characteristic points on this ultrasound probe, set up rectangular coordinate system in space, as ultrasound probe coordinate system T;
S4. use ultrasound probe scanning calibrating template, make hyperacoustic plane of scanning motion pass described many each demarcation straight line of demarcating straight line, record each plane of scanning motion spatial point crossing with demarcating straight line, calculate the coordinate of each spatial point in described stereo calibration template coordinate system M;
S5. set ultrasonoscopy coordinate system I, utilize the ultrasonoscopy treatment technology to obtain the coordinate of described each spatial point in ultrasonography, note is P (I)=(u
i, v
i, 0,1)
T
S6. by described optical positioning device coordinate system C, stereo calibration template coordinate system M, ultrasound probe coordinate system T and ultrasonoscopy coordinate system I, obtain formula:
P(M)＝
MT
C·
CT
T(i)·
TT
I·P(I)，
In formula: P (M) is the coordinate of spatial point in stereo calibration template coordinate system M; P (I) is the image coordinate of corresponding point in ultrasonoscopy;
Dimension is 4 * 4 matrix
MT
CBe the transformation matrix of coordinate system C to coordinate system M, this matrix is fixed value;
Dimension is 4 * 4 matrix
CT
T(i) be the transformation matrix of coordinate system T to coordinate system C, each uncalibrated image gathers corresponding matrix
CT
T(i);
Dimension is 4 * 4 matrix
TT
IBe required transformation matrix;
If object function f (i)=| P
M(i)-
MT
C CT
T(i)
TT
IP
I(i) |
2, make f (i)=0 o'clock
TT
IBe demarcation required, gather several uncalibrated images, after stacking data, use the method optimization of method of least square to obtain
TT
I, complete the demarcation of ultrasound probe.
The photocentre distance of described two pieces of cameras is the parallax range scalable, the optical axis included angle scalable.The number of described connecting line is at least 7.
In described step S3, before scanning, in the water with 50 ℃ of described calibrating template immersions.In described step S6, gather at least 2 width images.
Owing to having adopted technique scheme, the optical calibrating method of ultrasound probe provided by the invention has following advantage:
1. design a kind of stereo calibration template, with the calibrating template coordinate by two-dimensional expansion to three-dimensional, can strengthen like this constraints in the calibrated and calculated process, make calibration result more accurate;
Calibration formula P (M)=
MT
C CT
T(i)
TT
IUnknown quantity in P (I) only has
TT
I, reduced the complexity of calibrated and calculated;
3. directly utilize ultrasonic probe coordinate system and other coordinate systems to do conversion, explicit physical meaning, and three signature identification point strong adaptabilities pasting on probe can be applied on the ultrasonic probe of various models, and simple equipments is applied widely;
4. adopt optical positioning device to obtain the ultrasonic probe attitude, need not to consider the impact of power line, make to demarcate wider;
5. there is not the problem of electromagnetic compatibility in optical positioning device in the surgical navigational environment.
Description of drawings
Technical scheme for clearer explanation embodiments of the invention or prior art, the below will do one to the accompanying drawing of required use in embodiment or description of the Prior Art and introduce simply, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the transformation relation schematic diagram of space coordinates of the present invention;
Fig. 2 is stereo calibration template schematic diagram of the present invention;
Fig. 3 is signature identification point and the Coordinate Setting schematic diagram thereof on ultrasonic probe of the present invention;
Fig. 4 is stereo calibration template Coordinate Setting schematic diagram of the present invention;
Fig. 5 is the Coordinate calculation method schematic diagram of spatial point E of the present invention in stereo calibration template coordinate system.
The specific embodiment
For the purpose, technical scheme and the advantage that make embodiments of the invention clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is known complete description, obviously, described embodiment is a part of embodiment of the present invention, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills belong to protection scope of the present invention not making all other embodiment that obtain under the creative work prerequisite.
Embodiment 1:
As shown in Fig. 1-5: a kind of ultrasound probe scaling method:
One. the setting of the coordinate system C of optical positioning device: choose two pieces of identical cameras that optical axis is parallel to each other, as optical positioning device.As shown in Figure 1, two pieces of identical cameras, the camera lens of outfit same model, preferred, be fixed on horizontally disposed fixed mount.
Further, in order to satisfy different calibration ranges, described two pieces of cameras and described fixed mount are flexibly connected, and namely to be that parallax range is set to adjustable for the photocentre of two pieces of cameras distance, the optical axis included angle of while two pieces of cameras is scalable also, can satisfy the demarcation demand of different azimuth.
After fixing optical instrument, common, to select take the left camera photocentre as the axle center, the baseline of two pieces of cameras is the X-axis line, as Z axis, sets up rectangular coordinate system, as optical positioning device coordinate system C with the optical axis of this left camera.
Two. stereo calibration template and Coordinate Setting thereof: as shown in Figure 2: select two on all four rectangular frames or rectangular panel, select two on all four rectangular frames of size in the present embodiment, to connect framework is vertically and is oppositely arranged, make wherein that the orthographic projection of rectangular frame A on another rectangular frame B overlaps fully with rectangular frame B, also can be expressed as described two rectangular frames and consist of two faces relative in a space virtual cuboid in the optical positioning device coordinate system.Demarcate straight line, connect the summit of described two rectangular panel for selected many.Due to the needs of computing, need at least 7 to demarcate straight line, adopt the mode of broken line N shape connection, connect all summits of described two rectangular frames.Concrete connected mode, as shown in Figure 2: in six faces of Virtual space cuboid, except the face at described two rectangular frame places, in remaining 4 rectangular surfaces, have three faces at least, have three and demarcate the summit that straight line connects each place face, and three straight lines are the N font.As zero, set up rectangular coordinate system in space with the O point, as stereo calibration template coordinate system M.
Three. the signature identification point on ultrasonic probe and Coordinate Setting thereof, show as Fig. 3, choose the ultrasound probe of a 2D, paste at least three characteristic points on this ultrasound probe, preferably, characteristic point can be Visible Light Characteristics point and infrared LED characteristic point etc., sets up rectangular coordinate system in space, as ultrasound probe coordinate system T.
Four. each ultrasonic depth finder, all have oneself coordinate at its scanning plane, be set as ultrasonoscopy coordinate system I in the present invention.
Five. use ultrasound probe scanning calibrating template, in the time of work, described calibrating template is put into the approximately water of 50 ℃ of water temperature, hand-held 2D ultrasonic probe scans this template, and the plane of scanning motion and calibration line intersect at D, E, F, G, H, M, seven spatial point of N, show as Fig. 4.
Utilize the ultrasonoscopy treatment technology to obtain the coordinate of described each spatial point in ultrasonography coordinate system I, note is P (I)=(u
i, v
i, 0,1)
T
The D that obtains, E, F, G, H, M, seven spatial point of N, the coordinate of each point in volume template coordinate system M is made as P (M)=(x
i, y
i, z
i, 1)
T, EFC is similar to triangle as example take coplanar 3 of D, E, F, and according to the principle of similar triangles, the coordinate of E point in the stereo calibration template being arranged is (x
E, y
E, z
E, 1)
T,
Wherein
The geometry information of known stereo calibration template OA, OB, OC, DE, DF can measure in ultrasonoscopy, so just can obtain the coordinate of an E in stereo calibration template coordinate system, every width uncalibrated image can obtain the coordinate as 3 of E, G, M, as shown in Figure 4.
If the corresponding point image coordinate of spatial point in ultrasonoscopy is P (I)=(u
i, v
i, 0,1)
T, the technology that this image coordinate can utilize ultrasonoscopy to process is obtained.
Because the stereo calibration template is static with respect to optical positioning device in calibration process, so transformation matrix
MT
CConstant, only need record the transformation matrix that O, A, the coordinate of three spatial point of C in the optical positioning device coordinate system can be asked
MT
C
In the ultrasonic uncalibrated image of each collection, utilize optical positioning device to obtain the coordinate of three characteristic points on ultrasonic probe, can obtain transformation matrix
CT
T(i), corresponding transformation matrix of every width uncalibrated image.
By above-mentioned condition obtain calibration formula P (M)=
MT
C CT
T(i)
TT
IP (I), P in formula (M) are the coordinate of spatial point in stereo calibration template coordinate system; P (I) is the image coordinate of corresponding point in ultrasonoscopy; Dimension is 4 * 4 matrix
MT
CBe the transformation matrix of coordinate system C to coordinate system M, this matrix is fixed value; Dimension is 4 * 4 matrix
CT
T(i) be the transformation matrix of coordinate system T to coordinate system C, each uncalibrated image gathers corresponding matrix
CT
T(i); Dimension is 4 * 4 matrix
TT
IBe required transformation matrix.
If object function f (i)=| P
M(i)-
MT
C CT
T(i)
TT
IP
I(i) |
2, make f (i)=0 o'clock
TT
IBe demarcation required, gather several uncalibrated images (at least 2 width image), can use the method optimization of method of least square to obtain after stacking data on engineering
TT
I
The above; only be the better specific embodiment of the present invention; but protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to replacement or changed according to technical scheme of the present invention and inventive concept thereof, within all should being encompassed in protection scope of the present invention.
Claims (5)
1. ultrasound probe scaling method is characterized in that having following steps:
S1. choose two pieces of identical cameras that optical axis is parallel to each other, as optical positioning device, with the photocentre of a side camera as coordinate origin, the photocentre connecting line of two pieces of cameras is X-axis, with the optical axis of this camera as Z axis, set up rectangular coordinate system in space, as optical positioning device coordinate system C;
S2. choose and fix two identical rectangular frames, make two relative faces in described 2 virtual cuboids of rectangular frame Special composition, use many to demarcate each end points that straight line connects described two rectangular frames, as the stereo calibration template, choose a summit in described two rectangular frames as initial point, set up rectangular coordinate system in space, as stereo calibration template coordinate system M;
S3. choose the ultrasound probe of a 2D, paste at least three characteristic points on this ultrasound probe, set up rectangular coordinate system in space, as ultrasound probe coordinate system T;
S4. use ultrasound probe scanning calibrating template, make hyperacoustic plane of scanning motion pass described many each demarcation straight line of demarcating straight line, record each plane of scanning motion spatial point crossing with demarcating straight line, calculate the coordinate of each spatial point in described stereo calibration template coordinate system M;
S5. set ultrasonoscopy coordinate system I, utilize the ultrasonoscopy treatment technology to obtain the coordinate of described each spatial point in ultrasonography, note is P (I)=(u
i, v
i, 0,1)
T
S6. by described optical positioning device coordinate system C, stereo calibration template coordinate system M, ultrasound probe coordinate system T and ultrasonoscopy coordinate system I, obtain formula:
P(M)＝
MT
C·
CT
T(i)·
TT
I·P(I)，
In formula: P (M) is the coordinate of spatial point in stereo calibration template coordinate system M; P (I) is the image coordinate of corresponding point in ultrasonoscopy;
Dimension is 4 * 4 matrix
MT
CBe the transformation matrix of coordinate system C to coordinate system M, this matrix is fixed value;
Dimension is 4 * 4 matrix
CT
T(i) be the transformation matrix of coordinate system T to coordinate system C, each uncalibrated image gathers corresponding matrix
CT
T(i);
Dimension is 4 * 4 matrix
TT
IBe required transformation matrix;
If object function f (i)=| P
M(i)-
MT
C CT
T(i)
TT
IP
I(i) |
2, make f (i)=0 o'clock
TT
IBe demarcation required, gather several uncalibrated images, after stacking data, use the method optimization of method of least square to obtain
TT
I, complete the demarcation of ultrasound probe.
2. the optical calibrating method of a kind of ultrasound probe according to claim 1 is further characterized in that: the photocentre distance of described two pieces of cameras is the parallax range scalable, the optical axis included angle scalable.
3. the optical calibrating method of a kind of ultrasound probe according to claim 1, be further characterized in that: the number of described connecting line is at least 7.
4. the optical calibrating method of a kind of ultrasound probe according to claim 1, be further characterized in that: in described step S3, before scanning, in the water with 50 ℃ of described calibrating template immersions.
5. the optical calibrating method of a kind of ultrasound probe according to claim 1, be further characterized in that: in described step S6, gather 2 width images at least.
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Cited By (14)
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|---|---|---|---|---|
| CN103584885A (en) * | 2013-11-20 | 2014-02-19 | 哈尔滨工程大学 | Free arm ultrasound calibration method based on positioning and navigation puncture needle |
| CN103983933A (en) * | 2014-05-08 | 2014-08-13 | 工业和信息化部电子第五研究所 | Calibration measurement and frequency calibration method, system and device of board-level radio-frequency current probe |
| CN105534596A (en) * | 2015-12-31 | 2016-05-04 | 精微视达医疗科技（武汉）有限公司 | Method for correcting space position between binocular optical probe and B-ultrasonic probe and target line phantom |
| CN105769244A (en) * | 2016-03-22 | 2016-07-20 | 上海交通大学 | Calibration device for calibrating ultrasonic probe |
| CN106344153A (en) * | 2016-08-23 | 2017-01-25 | 深圳先进技术研究院 | Automatic tracking device and method for flexible puncture needle tip |
| CN106560163A (en) * | 2015-09-30 | 2017-04-12 | 合肥美亚光电技术股份有限公司 | Surgical navigation system and registration method of surgical navigation system |
| CN106725595A (en) * | 2016-12-05 | 2017-05-31 | 华南理工大学 | A kind of electromagnetic location and B ultrasonic integrated probe caliberating device and its scaling method |
| CN107072632A (en) * | 2014-09-24 | 2017-08-18 | B-K医疗公司 | Transducer orientation is marked |
| CN107462392A (en) * | 2017-09-01 | 2017-12-12 | 南京航空航天大学 | High Precision Automatic scaling method based on virtual template |
| CN108830905A (en) * | 2018-05-22 | 2018-11-16 | 苏州敏行医学信息技术有限公司 | The binocular calibration localization method and virtual emulation of simulating medical instrument cure teaching system |
| CN110554095A (en) * | 2019-08-16 | 2019-12-10 | 上海工程技术大学 | three-dimensional ultrasonic probe calibration device and method |
| CN112472294A (en) * | 2020-12-15 | 2021-03-12 | 山东威高医疗科技有限公司 | Method for acquiring spatial positions of different ultrasonic equipment probes in electromagnetic navigation system |
| CN113048878A (en) * | 2019-12-27 | 2021-06-29 | 苏州因确匹电子科技有限公司 | Optical positioning system and method and multi-view three-dimensional reconstruction system and method |
| CN113940699A (en) * | 2021-10-11 | 2022-01-18 | 电子科技大学 | Ultrasonic probe self-positioning device and self-positioning method thereof |
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| CN103584885A (en) * | 2013-11-20 | 2014-02-19 | 哈尔滨工程大学 | Free arm ultrasound calibration method based on positioning and navigation puncture needle |
| CN103983933A (en) * | 2014-05-08 | 2014-08-13 | 工业和信息化部电子第五研究所 | Calibration measurement and frequency calibration method, system and device of board-level radio-frequency current probe |
| CN103983933B (en) * | 2014-05-08 | 2017-09-19 | 工业和信息化部电子第五研究所 | Plate level RF current probe frequency demarcating method and system and device |
| CN107072632A (en) * | 2014-09-24 | 2017-08-18 | B-K医疗公司 | Transducer orientation is marked |
| CN106560163A (en) * | 2015-09-30 | 2017-04-12 | 合肥美亚光电技术股份有限公司 | Surgical navigation system and registration method of surgical navigation system |
| CN105534596B (en) * | 2015-12-31 | 2018-03-09 | 精微视达医疗科技（武汉）有限公司 | A kind of method and target wire body mould for locus calibration between binocular optical probe and Ultrasonic-B probe |
| CN105534596A (en) * | 2015-12-31 | 2016-05-04 | 精微视达医疗科技（武汉）有限公司 | Method for correcting space position between binocular optical probe and B-ultrasonic probe and target line phantom |
| CN105769244A (en) * | 2016-03-22 | 2016-07-20 | 上海交通大学 | Calibration device for calibrating ultrasonic probe |
| CN105769244B (en) * | 2016-03-22 | 2020-04-03 | 上海交通大学 | Calibration device for ultrasonic probe calibration |
| CN106344153A (en) * | 2016-08-23 | 2017-01-25 | 深圳先进技术研究院 | Automatic tracking device and method for flexible puncture needle tip |
| CN106725595B (en) * | 2016-12-05 | 2023-04-21 | 华南理工大学 | Electromagnetic positioning and B-ultrasonic integrated probe calibration device and calibration method thereof |
| CN106725595A (en) * | 2016-12-05 | 2017-05-31 | 华南理工大学 | A kind of electromagnetic location and B ultrasonic integrated probe caliberating device and its scaling method |
| CN107462392A (en) * | 2017-09-01 | 2017-12-12 | 南京航空航天大学 | High Precision Automatic scaling method based on virtual template |
| CN108830905A (en) * | 2018-05-22 | 2018-11-16 | 苏州敏行医学信息技术有限公司 | The binocular calibration localization method and virtual emulation of simulating medical instrument cure teaching system |
| CN110554095A (en) * | 2019-08-16 | 2019-12-10 | 上海工程技术大学 | three-dimensional ultrasonic probe calibration device and method |
| CN110554095B (en) * | 2019-08-16 | 2022-07-26 | 上海工程技术大学 | Three-dimensional ultrasonic probe calibration device and method |
| CN113048878A (en) * | 2019-12-27 | 2021-06-29 | 苏州因确匹电子科技有限公司 | Optical positioning system and method and multi-view three-dimensional reconstruction system and method |
| CN113048878B (en) * | 2019-12-27 | 2023-08-29 | 苏州因确匹电子科技有限公司 | Optical positioning system and method and multi-view three-dimensional reconstruction system and method |
| CN112472294B (en) * | 2020-12-15 | 2023-01-20 | 山东威高医疗科技有限公司 | Method for acquiring spatial positions of different ultrasonic equipment probes in electromagnetic navigation system |
| CN112472294A (en) * | 2020-12-15 | 2021-03-12 | 山东威高医疗科技有限公司 | Method for acquiring spatial positions of different ultrasonic equipment probes in electromagnetic navigation system |
| CN113940699A (en) * | 2021-10-11 | 2022-01-18 | 电子科技大学 | Ultrasonic probe self-positioning device and self-positioning method thereof |
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