Three-dimensional ultrasonic probe calibration device and method for calibrating three-dimensional ultrasonic probe

Abstract

The invention relates to a three-dimensional ultrasonic probe calibration device and a method for calibrating a three-dimensional ultrasonic probe. The three-dimensional probe calibration device comprises an optical positioning instrument, an optical positioning probe, an ultrasonic nondestructive flaw detector, a calibration template, a computer and a mechanical arm, wherein the optical positioning instrument and the ultrasonic nondestructive flaw detector are respectively connected with the computer, the optical positioning probe is fixed on the ultrasonic nondestructive flaw detector, the calibration template is a water tank of which the inner bottom is provided with a plurality of circular truncated cones, and counter bores are formed in the centers of the top surfaces of the circulartruncated cones. Compared with the prior art, the invention is based on optical localization, the improved calibration template is provided. Posture and pose information of the optical positioning probe is obtained through tracking, and the mechanical arm is adopted to clamp the ultrasonic nondestructive flaw detector for ultrasonic image scanning. And the optical positioning probe is directly contacted with the point target to obtain the position information of a point target, so that the operation difficulty of the calibration process is reduced, the additional calibration of the position information of the template point target is avoided, and the calibration precision and efficiency are improved.

Description

technical field [0001] The invention relates to the technical field of ultrasonic probe positioning, in particular to a three-dimensional ultrasonic probe calibration device and a method for calibrating a three-dimensional ultrasonic probe. Background technique [0002] Three-dimensional ultrasonic imaging uses a three-dimensional ultrasonic probe to scan an object and record its image, and then reconstruct and visualize the 3D volume of the object. It is a safe, cheap and easy-to-operate non-destructive testing technology. Calibrating the 3D ultrasound probe is a key step in realizing 3D visualization of ultrasound images. The spatial accuracy of the ultrasound system mainly depends on the accuracy of the ultrasound scanning plane relative to the probe marker coordinate system. The 3D ultrasound imaging system usually needs to use the ultrasound probe to perform imaging on the template. , and identify its features from the ultrasound image to minimize the residual error bet...

AI Technical Summary

Problems solved by technology

[0003] The template based on the point model is one of the widely used models due to its simplicity, easy construction, and accurate imaging, but its disadvantage is that the ultrasonic plane and the target point need to be coplanar, so the existing probe calibration process based on the point model Usually it is tedious and time-consuming, and has high requirements for the operator

The traditional point model generally uses balls or cross lines to form single-point or multi-point targets, so the position of the point target cannot be directly known, and the point target needs to be scanned at multiple angles, requiring a large number of imaging images, so the operator It is necessary to hold an ultrasonic flaw detector, image the intersection point repeatedly, and then iteratively calculate the transformation parameters from the ultrasonic image coordinate system to the probe coordinate system, otherwise the converted parameters will be highly constrained by the optimization process and inaccurate. The ultrasonic image scanning by the flaw detector cannot guarantee the operation stability and imaging clarity. In addition, the iterative method is used to solve the coordinate transformation parameters, and the position information of the template needs to be calibrated in advance, which leads to the introduction of errors.

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