During the process of robot-assisted ultrasound(US) puncture, it is important to estimate the location of the puncture from the 2D US images. To this end, the calibration of the US image becomes an important issue. In this paper, we proposed a depth camera-based US calibration method, where an easy-to-deploy device is designed for the calibration. With this device, the coordinates of the puncture needle tip are collected respectively in US image and in the depth camera, upon which a correspondence matrix is built for calibration. Finally, a number of experiments are conducted to validate the effectiveness of our calibration method.

翻译：在机器人辅助超声穿刺过程中，从二维超声图像估计穿刺位置至关重要。为此，超声图像的标定成为一个关键问题。本文提出一种基于深度相机的超声标定方法，设计了一种易于部署的标定装置。利用该装置，分别采集穿刺针尖在超声图像和深度相机中的坐标，并基于此建立对应矩阵完成标定。最后，通过一系列实验验证了所提标定方法的有效性。