Ultrasound probe calibration phantom, ultrasound probe calibration system and calibration method thereof

A calibration system of an ultrasonic probe, comprising:

• an ultrasonic water tank, which contains purified water;
• a calibration phantom of an ultrasonic probe, which is fixed in the ultrasonic water tank, wherein the purified water exactly submerges the calibration phantom of the ultrasonic probe;
• a concave groove is formed in the middle of the upper surface of the calibration phantom of the ultrasonic probe;
• and a plurality of conical holes are formed on the side surface of the calibration phantom of the ultrasonic probe;
• a two-dimensional ultrasonic probe, which is fixed in the concave groove, wherein a locating and tracking device is further fixed in the two-dimensional ultrasonic probe;
• and
• NDI puncture probes, which are inserted in the conical holes, so that tips of the NDI puncture probes are acquired through ultrasonic images.

A method of calibration of an ultrasonic probe, comprising following steps:

• fixing the calibration phantom of the ultrasonic probe in the ultrasonic water tank, and enabling the purified water in the ultrasonic water tank to exactly submerge the calibration phantom of the ultrasonic probe, wherein a concave groove is formed in the middle of the upper surface of the calibration phantom of the ultrasonic probe;
• and a plurality of conical holes are formed on the side surface of the calibration phantom of the ultrasonic probe;
• fixing the two-dimensional ultrasonic probe in the concave groove, and further fixing a locating and tracking device in the two-dimensional ultrasonic probe;
• inserting NDI puncture probes in the conical holes, and acquiring tips of the NID puncture probes through ultrasonic images;
• simultaneously acquiring position information of the tips and position information of the locating and tracking device in a world coordinate system through the NDI puncture probes, and respectively marking the position information of the tips and the position information of the locating and tracking device as yi and TS→W;
• recording the pixel position information of the tips on the ultrasonic image plane, and marking the pixel position information as xi, wherein yi=TS→W·TP→S·xi, and TP→S is a transformation matrix from an unknown ultrasonic imaging plane coordinate system P to an ultrasonic probe locating device coordinate system S;
• and
• solving the transformation matrix TP→S by an image registration algorithm based on an iterative closest point to synchronously acquire space calibration and time calibration.