Study on calibration method of ultrasonic probe based on electromagnetic positioner in puncture surgical robot.

In the application of image-guided puncture and interventional surgery, it is difficult to realize real-time positioning, display and surgical navigation of surgical needle only with two-dimensional ultrasound images. In this paper, electromagnetic positioning system is used to conduct intraoperative ultrasound image-guided puncture surgery based on electromagnetic positioning, and a single N-line model is adopted to register ultrasonic images and complete the registration of electromagnetic system and image system. It helps guide the surgeon to operate the robotic arm to complete the puncture surgery. The experimental results show that: when the electromagnetic locator is used for positioning and guiding and the single N-line model is used as the calibration model, the SVD registration algorithm combined with the least square method is used to calibrate and calculate the conversion matrix, and 10 groups of data are collected. The mean standard deviation of the conversion matrix reaches 0.10917, which can meet the clinical accuracy requirements of puncture surgery.