Tracked ultrasound for laparoscopic surgery

Philip Bao, John Warmath, Benjamin Poulose, Robert Galloway, Alan Joseph Herline

Research output: Contribution to journalConference articlepeer-review

4 Scopus citations


We calibrate a tracked laparoscopic ultrasound probe for application in image-guided surgery and 3-D volume reconstruction. With a plane-mapping technique, the spatial relationship between the ultrasound beam emitted from the tip of the probe to the local coordinate system of the probe was determined by mapping it with an optically tracked pointer. A cross-wire calibration technique was also performed for comparison. The accuracy and precision of the calibrated probe was evaluated by measuring its ability to localize targets in a water bath. Target registration error depended upon probe position, varying from an average 0.88 mm for the fixed probes to 6.09 mm for a moving probe. This error can be reduced to 4.54 mm by accounting for target localization error which is the error determining the position of the probe itself. These results validate the plane-mapping calibration technique for this type of ultrasound probe, and better probe tracking is expected to reduce the overall registration error.

Original languageEnglish (US)
Pages (from-to)237-246
Number of pages10
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - Oct 27 2004
EventProgress in Biomedical Optics and Imaging 2004 - Medical Imaging: Visualization, Image-Guided Procedures, and Display - San Diego, CA, United States
Duration: Feb 15 2004Feb 17 2004


  • Calibration
  • Guided
  • Image
  • Laparoscopic
  • Reconstruction
  • Registration
  • Surgery
  • Ultrasound
  • Volume

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Condensed Matter Physics


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