A novel calibration phantom for combining echocardiography with electromagnetic tracking

Abstract Ultrasound compounding techniques offer the possibility to enlarge the otherwise limited field of view of ultrasound. However, existing works mainly rely on larger ultrasound sensors. In this work, we attach electromagnetic (EM) tracking sensors to small tubular echo probes, namely an intracardiac echocardiographic (ICE) probe and a transesophageal echocardiographic (TEE) transducer. The EM tracking allows, when synchronized to the ultrasound, localization of the probes in either 5 DOF (Degrees of Freedom) or 6 DOF without line-of-sight requirement. For computation of the references between the two systems, we developed a novel customized 3D-printable phantom, which is especially convenient for tubular probes that acquire images laterally. Calibration with the phantom and 3D volume reconstruction was conducted in the Plus Toolkit. The volume reconstructor uses the captured position and orientation information to fuse 2D ultrasound slices into a compounded volume. Mean calibration error is below 2.5 mm for ICE and TEE. An accuracy evaluation of the 3D reconstruction using an object of known geometry revealed that tracking with 5 DOF provides unsatisfactory results, while the combination of 6 DOF and TEE achieved a mean absolute difference of 3.08 mm. Our calibration phantom fCal-Echo1.0 is openly available at http://perk-software.cs.queensu.ca/plus/doc/nightly/modelcatalog/.