Bootstrapped ultrasound calibration

Emad M. Boctor, Iulian Iordachita, Michael A. Choti, Gregory Hager, Gabor Fichtinger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations


This paper introduces an enhanced (bootstrapped) method for tracked ultrasound probe calibration. Prior to calibration, a position sensor is used to track an ultrasound probe in 3D space, while the US image is used to determine calibration target locations within the image. From this information, an estimate of the transformation matrix of the scan plane with respect to the position sensor is computed. While all prior calibration methods terminate at this phase, we use this initial calibration estimate to bootstrap an additional optimization of the transformation matrix on independent data to yield the minimum reconstruction error on calibration targets. The bootstrapped workflow makes use of a closed-form calibration solver and associated sensitivity analysis, allowing for rapid and robust convergence to an optimal calibration matrix. Bootstrapping demonstrates superior reconstruction accuracy.

Original languageEnglish (US)
Title of host publicationMedicine Meets Virtual Reality 14 - Accelerating Change in Healthcare
Subtitle of host publicationNext Medical Toolkit, MMVR 2006
PublisherIOS Press
Number of pages6
ISBN (Print)1586035835, 9781586035839
StatePublished - Jan 1 2006
EventMedicine Meets Virtual Reality 14 - Accelerating Change in Healthcare: Next Medical Toolkit, MMVR 2006 - Long Beach, CA, United States
Duration: Jan 24 2006Jan 27 2006

Publication series

NameStudies in Health Technology and Informatics
ISSN (Print)0926-9630
ISSN (Electronic)1879-8365


OtherMedicine Meets Virtual Reality 14 - Accelerating Change in Healthcare: Next Medical Toolkit, MMVR 2006
Country/TerritoryUnited States
CityLong Beach, CA


  • Bootstrapped calibration
  • Tracked ultrasound
  • Ultrasound calibration

ASJC Scopus subject areas

  • Biomedical Engineering
  • Health Informatics
  • Health Information Management


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