{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,31]],"date-time":"2025-05-31T06:10:09Z","timestamp":1748671809677,"version":"3.41.0"},"reference-count":27,"publisher":"Oxford University Press (OUP)","issue":"5","license":[{"start":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T00:00:00Z","timestamp":1747094400000},"content-version":"vor","delay-in-days":12,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003693","name":"KIST","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003693","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100014188","name":"MSIT","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100014188","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,6]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Precise calibration of ultrasonic probes is vital for the accuracy of image-guided surgical procedures, where exact positioning of instruments is crucial. Conventional methods depend on phantoms with defined geometries\u2014such as wires, steps, wedges, styluses, or cones\u2014but these approaches are prone to errors due to manufacturing tolerances, insufficient sampling across six degrees of freedom, and time delays between tracking systems and ultrasound image acquisition. Additionally, most current techniques address spatial and temporal calibration separately, which increases complexity and prolongs the process. To address this issue, we propose a robust and rapid calibration technique for ultrasonic probes, utilizing a straightforward phantom that can be easily fabricated in a laboratory environment, alongside a newly developed algorithm. We designed a phantom with randomly placed spherical features of various gelatins. The phantom is computed tomography (CT)-visible so that the phantom features are accurately measured via CT, obviating the need for high-precision phantom fabrication. The ultrasonic probe and phantom were tracked by an optical tracking system to transform the phantom's coordinate system into the probe's coordinate system. Furthermore, an algorithm for synchronization was developed to compensate for the 150\u2009ms delay in the system. We developed an easily-fabricated phantom and conducted a CT scan to accurately capture its geometry for ultrasonic spatial calibration. The projected images of the phantom, captured using an ultrasonic probe, showed ellipses. By measuring the centres, major, and minor axes of these ellipses, we estimated calibration parameters with the newly proposed algorithm that aligns the images with the transformation between the probe and the phantom. We conducted the calibration at three ultrasonic imaging depths: 6, 9, and 12\u2009cm. Three operators continuously swept the probe over the phantom without stopping or controlling speed, achieving an average error of 1.2106\u2009mm. While numerous studies have proposed various methodologies, they face challenges in phantom fabrication, non-universality of the approach, and susceptibility to significant errors when deviating slightly from pre-defined constraints. Our approach, featuring real-time spatial calibration at various depths, consistently achieves precise alignments with minimal errors, proving its potential for widespread applications.<\/jats:p>","DOI":"10.1093\/jcde\/qwaf049","type":"journal-article","created":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T17:08:16Z","timestamp":1747156096000},"page":"161-174","source":"Crossref","is-referenced-by-count":0,"title":["Rapid and robust ultrasonic probe calibration employing a CT-visible randomized spherical phantom"],"prefix":"10.1093","volume":"12","author":[{"given":"Jegyeong","family":"Ryu","sequence":"first","affiliation":[{"name":"Korea Institute of Science and Technology Bionics Research Center, , Seoul 02792 ,","place":["Republic of Korea"]},{"name":"Seoul National University Department of Mechanical Engineering, , Seoul 08826 ,","place":["Republic of Korea"]}]},{"given":"Nova Eka","family":"Diana","sequence":"additional","affiliation":[{"name":"Korea Institute of Science and Technology Bionics Research Center, , Seoul 02792 ,","place":["Republic of Korea"]},{"name":"University of Science and Technology Division of AI Robotics, KIST School, , Seoul 02792 ,","place":["Republic of Korea"]},{"name":"Universitas YARSI Department of Informatics, , Jakarta 10510 ,","place":["Indonesia"]}]},{"given":"Gyuwon","family":"Kang","sequence":"additional","affiliation":[{"name":"Korea Institute of Science and Technology Bionics Research Center, , Seoul 02792 ,","place":["Republic of Korea"]},{"name":"Korea University Department of Mechanical Engineering, , Seoul 02841 ,","place":["Republic of Korea"]}]},{"given":"Chan Wook","family":"Park","sequence":"additional","affiliation":[{"name":"Seoul National University Institute of Advanced Machines and Design, , Gwanak-ro 1, Gwanak-gu, Seoul 08826 ,","place":["Republic of Korea"]}]},{"given":"Amy Kyungwon","family":"Han","sequence":"additional","affiliation":[{"name":"Seoul National University Department of Mechanical 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