An ultrasonic probe calibration method, device, equipment and storage medium

Abstract

The present invention relates to a method, device, equipment and storage medium for calibrating an ultrasonic probe. The method includes scanning a calibration line perpendicular to the space to obtain joint angle information and ultrasonic image information; converting the joint angle information through a flange-base coordinate system to obtain attitude information and position information; selecting calibration point parameters in the ultrasonic image information and obtaining a position vector through an image-base coordinate conversion; calculating the difference of the position vectors to obtain a direction vector with respect to the calibration line; and obtaining calibration parameters by using the direction vector to obtain a loss function and minimizing it. The method, device, equipment and storage medium for calibrating an ultrasonic probe provided by the present invention adopt a calibration line perpendicular to the space, respectively collect joint angle information and ultrasonic image information, perform coordinate conversions on both of them respectively, calculate the difference of the direction vectors, and use the direction vector to obtain calibration parameters by calculating the loss function with the minimum value, reducing the complexity of the calculation in the calibration process and also reducing the economic cost required for calibration.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic scanning, and particularly to a method, device, equipment and storage medium for calibrating an ultrasonic probe. Background Art

[0002] At present, an ultrasonic probe is usually fixed at the end of a robotic arm and adjusted in angle according to the movement of the joints of the robotic arm to achieve ultrasonic scanning of a patient, and at the same time, it also provides a more accurate position correction means for medical means such as interventional puncture.

[0003] The calibration method of an ultrasonic probe usually selects multiple N-type wire phantoms as calibration tools, and selects marking points and / or feature points accordingly, and uses methods such as spatial coordinate transformation to achieve matching for calibration operations. However, since the number of selected N-type wire phantoms is multiple, the complexity of calibration is increased, resulting in redundant subsequent calculation processes, reducing the calibration efficiency, and at the same time increasing the calibration cost. Summary of the Invention

[0004] The present invention provides a method, device, equipment and storage medium for calibrating an ultrasonic probe, aiming to replace the existing multiple N-type wire phantoms by selecting calibration lines perpendicular to each other in space, thereby reducing the complexity of calculation in the calibration process and reducing the calibration cost.

[0005] In a first aspect, an embodiment of the present invention provides a method for calibrating an ultrasonic probe, including:

[0006] Scanning calibration lines perpendicular to each other in space to obtain at least two sets of joint angle information and ultrasonic image information;

[0007] Converting the joint angle information of the flange-base coordinate to determine the attitude information and position information; flange-base coordinate conversion is the conversion from the flange coordinate system to the base coordinate system;

[0008] Selecting the calibration point parameters in the ultrasonic image information, and obtaining the position vector through image-base coordinate conversion; image-base coordinate conversion is the conversion from the ultrasonic image coordinate system to the base coordinate system; the position vector includes the attitude information and position information;

[0009] Calculating the difference of the position vectors to obtain the direction vector of the calibration line;

[0010] Obtaining the loss function according to the direction vector and minimizing it to obtain the calibration parameters.

[0011] Optionally, the calibration lines perpendicular to each other in space include nylon lines arranged inside the water tank in the directions of the X-axis, Y-axis and Z-axis.

[0012] Optionally, obtaining at least two sets of joint angle information of the robotic arm connected to the ultrasonic probe and ultrasonic image information of the calibration line specifically includes:

[0013] Translate the ultrasonic probe along the setting direction of the nylon thread respectively to obtain the first set of joint angle information and ultrasonic image information;

[0014] Adjust the attitude of the ultrasonic probe, and repeat to translate the ultrasonic probe along the setting direction of the nylon thread to obtain the second set of joint angle information and ultrasonic image information.

[0015] Optionally, select the marker point parameters in the ultrasonic image information, and obtain the position vector through image-base coordinate conversion, specifically including:

[0016] Perform threshold segmentation on the ultrasonic image information to obtain the calibration point parameters;

[0017] Convert the calibration point parameters from the ultrasonic image coordinate system to the ultrasonic plane coordinate system;

[0018] Combine the attitude information and position information in the base coordinate system, and convert the calibration point parameters from the ultrasonic plane coordinate system to the base coordinate system.

[0019] Optionally, the loss function includes a first loss function regarding perpendicularity and / or parallelism between different calibration lines and a second loss function for the collinearity constraint of the same calibration line.

[0020] Optionally, the calibration parameters include the rotation matrix and translation vector of the ultrasonic plane coordinate system with respect to the flange coordinate system.

[0021] Optionally, use the direction vector to obtain and minimize the loss function to obtain the calibration parameters, specifically including:

[0022] According to the direction vector, minimize and calculate the first loss function to obtain the rotation matrix;

[0023] According to the rotation matrix, minimize and calculate the second loss function to obtain the translation vector.

[0024] In a second aspect, an embodiment of the present invention proposes an ultrasonic probe calibration evaluation device, including:

[0025] An information acquisition module, configured to scan calibration lines perpendicular to the space to obtain at least two sets of joint angle information and ultrasonic image information;

[0026] A first coordinate conversion module, configured to perform flange-base coordinate conversion on the joint angle information to determine the attitude information and position information; flange-base coordinate conversion is the conversion from the flange coordinate system to the base coordinate system;

[0027] A second coordinate conversion module, configured to select the calibration point parameters in the ultrasonic image information and obtain the position vector through image-base coordinate conversion; image-base coordinate conversion is the conversion from the ultrasonic image coordinate system to the base coordinate system; the position vector includes the attitude information and position information;

[0028] A difference calculation module for calculating a position vector of a difference to obtain a direction vector with respect to a calibration line;

[0029] A calibration parameter calculation module for obtaining a loss function by using the direction vector and minimizing it to obtain calibration parameters.

[0030] In a third aspect, an embodiment of the present invention provides an electronic device, which includes: one or more processors;

[0031] A memory for storing one or more programs;

[0032] When the one or more programs are executed by the one or more processors, the one or more processors implement the ultrasonic probe calibration method provided in any embodiment of the present invention.

[0033] In a fourth aspect, an embodiment of the present invention provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute the ultrasonic probe calibration method provided in any embodiment of the present invention when executed by a computer processor.

[0034] An ultrasonic probe calibration method, device, equipment and storage medium provided by an embodiment of the present invention use a spatially vertical calibration line to replace the existing multiple N-type line phantoms, respectively collect the joint angle information of the robotic arm connected to the ultrasonic probe and the ultrasonic image information of the calibration line, then perform coordinate transformation on both, calculate the direction vector by difference, and obtain the calibration parameters by calculating the loss function with the minimum value using the direction vector, thereby reducing the complexity of the calculation in the existing calibration process and also reducing the economic cost required for calibration. Description of the Drawings

[0035] Figure 1 It is a flowchart of an ultrasonic probe calibration method provided by an embodiment of the present invention;

[0036] Figure 2 It is a schematic diagram of the connection between the robotic arm and the ultrasonic probe in an ultrasonic probe calibration method provided by an embodiment of the present invention;

[0037] Figure 3 It is a flowchart of obtaining joint angle information and ultrasonic image information in an ultrasonic probe calibration method provided by an embodiment of the present invention;

[0038] Figure 4 It is a flowchart of obtaining a position vector in an ultrasonic probe calibration method provided by an embodiment of the present invention;

[0039] Figure 5 It is a flowchart of obtaining calibration parameters in an ultrasonic probe calibration method provided by an embodiment of the present invention;

[0040] Figure 6 It is the structural schematic diagram of an ultrasonic probe calibration device provided by an embodiment of the present invention;

[0041] Figure 7 It is the structural schematic diagram of an ultrasonic probe calibration device provided by an embodiment of the present invention. Specific embodiments

[0042] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the convenience of description, only parts related to the present invention rather than all structures are shown in the accompanying drawings.

[0043] Existing ultrasonic probes are used to perform medical procedures such as scanning and puncturing patients by being connected to a robotic arm. Therefore, the calibration of ultrasonic probes is particularly important. Existing calibration methods usually select multiple N-type wire phantoms as calibration tools, and based on this, select marker points and / or feature points, and use methods such as spatial coordinate system conversion to achieve matching for calibration operations. However, since the number of selected N-type wire phantoms is multiple, it increases the complexity of calibration, resulting in redundant subsequent calculation processes, reducing the calibration efficiency, and also increasing the calibration cost.

[0044] Embodiment 1

[0045] In view of the above deficiencies, the present invention proposes an ultrasonic probe calibration method, as Figure 1 shown, including:

[0046] S10: Scan the calibration lines perpendicular to the space to obtain at least two sets of joint angle information about the robotic arm to which the ultrasonic probe is connected and ultrasonic image information about the calibration lines; In an optional embodiment, the calibration lines perpendicular to the space include nylon lines arranged in the X-axis, Y-axis, and Z-axis directions inside the water tank, forming an ultrasonic image coordinate system, as Figure 2 shown. The robotic arm to which the ultrasonic probe is connected has joints. The method for obtaining joint angle information and ultrasonic image information by adjusting the joint angles is as Figure 3 shown:

[0047] S11: Translate the ultrasonic probe along the arrangement direction of the nylon line respectively to obtain the first set of joint angle information and ultrasonic image information;

[0048] S12: Adjust the posture of the ultrasonic probe, and repeat translating the ultrasonic probe along the arrangement direction of the nylon line to obtain the second set of joint angle information and ultrasonic image information.

[0049] The set of joint angle information and ultrasonic image information wherein refers to the joint angle information of the robotic arm in two postures; Refers to the ultrasonic image information collected by the ultrasonic probe when the robotic arm is in different postures.

[0050] S20: Convert the joint angle information of the flange-base coordinate to determine the posture information and position information; the flange-base coordinate conversion is the conversion from the flange coordinate system to the base coordinate system; where the flange coordinate system refers to the direction of the central axis of the flange as the Z-axis direction, and the flange forms the X-axis and Y-axis directions. The base coordinate refers to the coordinate system to which the fixed end of the robotic arm belongs. The conversion of the flange-base coordinate is mainly through the forward kinematics of the robotic arm, and through the matrix conversion between multiple joints of the robotic arm, the flange coordinate system to which the ultrasonic probe connected to the end flange of the robotic arm belongs is converted to the base coordinate system, obtaining the corresponding posture information and position information Among them, Refers to the posture information of the robotic arm in two postures; Refers to the position information of the robotic arm in two postures.

[0051] S30: Select the calibration point parameters in the ultrasonic image information, and obtain the position vector through the image-base coordinate conversion; the image-base coordinate conversion is the conversion from the ultrasonic image coordinate system to the base coordinate system; the position vector includes the posture information and position information; the above calibration line (nylon line) is displayed as a calibration point, that is, a bright spot, in the ultrasonic image information, and then the acquisition process of the position vector is as Figure 4 shown:

[0052] S31: Threshold segment the ultrasonic image information to obtain the calibration point parameters; use the threshold to binarize the bright spot color to obtain the center position of the bright spot, that is, the calibration point, and the calibration point parameters can be expressed as

[0053] S32: Convert the calibration point parameters from the ultrasonic image coordinate system to the ultrasonic plane coordinate system; the ultrasonic image coordinate system cannot be directly converted to the base coordinate system, so first use the fixed parameters of the ultrasonic probe to achieve the conversion from the ultrasonic image coordinate system to the ultrasonic plane coordinate system, that is:

[0054]

[0055]

[0056] Among them, s x , s y , o x , o y are the above fixed parameters.

[0057] S33: Combine the posture information and position information in the base coordinate system, and convert the calibration point parameters from the ultrasonic plane coordinate system to the base coordinate system to obtain the position vector about the calibration point The conversion process is shown in the following formula:

[0058]

[0059]

[0060] where R u represents the rotation matrix of the ultrasonic plane in the flange coordinate system among the calibration parameters; t u represents the translation vector from the ultrasonic plane to the flange coordinate system among the calibration parameters.

[0061] S40: Calculate the position vector of the difference to obtain the direction vector with respect to the calibration line.

[0062] Since the ultrasonic probe makes a non-rotational translational motion in the direction of each calibration line, that is:

[0063]

[0064] Furthermore, the direction vector of this calibration line is calculated through the difference of the position vectors of the calibration points in different postures Thus, the calibration of the direction belonging to this calibration line is achieved. Similarly, repeat the operation to complete the calibration of the above three directions.

[0065]

[0066] S50: Use the direction vector to obtain and minimize the loss function to obtain the calibration parameters. The loss function includes a first loss function regarding the perpendicularity and / or parallelism between different calibration lines and a second loss function regarding the collinearity constraint of the same calibration line. The calibration parameters include the rotation matrix of the ultrasonic plane coordinate system with respect to the flange coordinate system and the translation vector.

[0067] Among them, the first loss function is a function of the rotation matrix: the second loss function is a function of the rotation matrix and the translation vector. Therefore, using the direction vector to obtain and minimize the loss function, the calibration parameters are specifically as Figure 5 shown, including:

[0068] S51: According to the direction vector, minimize and calculate the first loss function Q1 to obtain the rotation matrix R u ;

[0069]

[0070] Obtain Q1 by the least squares method and take the minimum value, thereby obtaining the calibration value of the rotation matrix R u .

[0071] S52: According to the rotation matrix R u , minimize and calculate the second loss function Q2 to obtain the translation vector t u .

[0072]

[0073] where Q2 is a function of the rotation matrix R u and the translation vector t u On the basis that the rotation matrix R u has been solved, the minimum value of Q2 is solved by the least squares method, so as to obtain the calibration value of the translation vector t u .

[0074] An ultrasonic probe calibration method, device, equipment and storage medium provided by an embodiment of the present invention use a spatially perpendicular calibration line to replace the existing multiple N-type wire phantoms, respectively collect the joint angle information of the robotic arm connected to the ultrasonic probe and the ultrasonic image information of the calibration line, and then perform coordinate system conversion on the two respectively, calculate the direction vector by taking the difference, and use the direction vector to calculate the loss function through the minimum value to obtain the calibration parameter, thereby reducing the computational complexity in the existing calibration process and also reducing the economic cost required for calibration.

[0075] Embodiment Two

[0076] Further, this embodiment is further refined on the basis of the above technical solution. In a preferred implementation manner, the robotic arm connected to the ultrasonic probe is a 6-degree-of-freedom robotic arm, the size of the water tank is 300×200×200 (mm), and the diameter of the nylon wire used for the calibration line is 0.5 mm.

[0077] Furthermore, the above rotation matrix R u and the translation vector t u are obtained through calculation. Wherein:

[0078]

[0079] t u = (-0.000430879 -0.000286086 0.215662)

[0080] Embodiment Three

[0081] On the basis of the above technical solution, this embodiment further proposes an ultrasonic probe calibration device, as Figure 6 shown, including:

[0082] An information acquisition module 01, configured to scan a spatially perpendicular calibration line to obtain at least two sets of joint angle information and ultrasonic image information; wherein the spatially perpendicular calibration line includes nylon wires arranged inside the water tank in the X-axis, Y-axis, and Z-axis directions.

[0083] Furthermore, the information acquisition module 01 is configured to perform the following operations:

[0084] Translate the ultrasonic probe along the setting direction of the nylon thread respectively to obtain the first set of joint angle information and ultrasonic image information;

[0085] Adjust the attitude of the ultrasonic probe, and repeat to translate the ultrasonic probe along the setting direction of the nylon thread to obtain the second set of joint angle information and ultrasonic image information.

[0086] The first coordinate conversion module 02 is used to convert the joint angle information of the flange-base coordinate to determine the attitude information and position information; the flange-base coordinate conversion is the conversion from the flange coordinate system to the base coordinate system;

[0087] The second coordinate conversion module 03 is used to select the calibration point parameters in the ultrasonic image information and obtain the position vector through the image-base coordinate conversion; the image-base coordinate conversion is the conversion from the ultrasonic image coordinate system to the base coordinate system; the position vector includes the attitude information and position information;

[0088] The second coordinate conversion module 03 is configured to perform the following operations:

[0089] Perform threshold segmentation on the ultrasonic image information to obtain the calibration point parameters;

[0090] Convert the calibration point parameters from the ultrasonic image coordinate system to the ultrasonic plane coordinate system;

[0091] Combined with the attitude information and position information in the base coordinate system, convert the calibration point parameters from the ultrasonic plane coordinate system to the base coordinate system.

[0092] The difference calculation module 04 is used to calculate the difference of the position vector to obtain the direction vector of the calibration line.

[0093] The calibration parameter calculation module 05 is used to obtain the loss function by using the direction vector and minimize it to obtain the calibration parameters. The loss function includes the first loss function regarding the perpendicularity and / or parallelism between different calibration lines and the second loss function of the collinearity constraint of the same calibration line.

[0094] The calibration parameters include the rotation matrix and translation vector of the ultrasonic plane coordinate system with respect to the flange coordinate system.

[0095] Furthermore, the calibration parameter calculation module 05 is configured to perform the following operations:

[0096] According to the direction vector, minimize and calculate the first loss function to obtain the rotation matrix;

[0097] According to the rotation matrix, minimize and calculate the second loss function to obtain the translation vector.

[0098] An ultrasonic probe calibration device provided by an embodiment of the present invention applies the ultrasonic probe calibration methods provided in Embodiment 1 and Embodiment 2, adopts the same technical means, and achieves the same technical effects, which will not be elaborated here.

[0099] Embodiment 4

[0100] Figure 7 is a schematic structural diagram of an ultrasonic probe calibration device provided by an embodiment of the present invention. As Figure 7 shown, the ultrasonic probe calibration device includes a processor 710, a memory 720, an input device 730, and an output device 740; the number of processors 710 in the ultrasonic probe calibration device can be one or more, Figure 7 taking one processor 710 as an example; the processor 710, the memory 720, the input device 730, and the output device 740 in the ultrasonic probe calibration device can be connected through a bus or other means, Figure 7 taking connection through a bus as an example.

[0101] The memory 720, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the ultrasonic probe calibration method in the embodiment of the present invention (for example, an information acquisition module, a first coordinate conversion module, a second coordinate conversion module, a difference calculation module, and a calibration parameter calculation module). The processor 710 executes various functional applications and data processing of the ultrasonic probe calibration device by running the software programs, instructions, and modules stored in the memory 720, that is, implements the above-mentioned ultrasonic probe calibration method.

[0102] The memory 720 may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 720 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 720 may further include a memory remotely set relative to the processor 710, and these remote memories may be connected to the ultrasonic probe calibration device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0103] The input device 730 can be used to receive input digital or character information, and generate key signal inputs related to user settings and function controls of the ultrasonic probe calibration device. The output device 740 may include a display device such as a display screen.

[0104] Embodiment 5

[0105] Embodiment 5 of the present invention further provides a storage medium containing computer-executable instructions, and when the computer-executable instructions are executed by a computer processor, they are used to execute an ultrasonic probe calibration method, including:

[0106] Scan the calibration lines perpendicular to the space to obtain at least two sets of joint angle information about the robotic arm connected to the ultrasonic probe and ultrasonic image information about the calibration lines;

[0107] Convert the flange-base coordinate joint angle information to determine the attitude information and position information; flange-base coordinate conversion is the conversion from the flange coordinate system to the base coordinate system;

[0108] Select the calibration point parameters in the ultrasonic image information, and obtain the position vector through image-base coordinate conversion; image-base coordinate conversion is the conversion from the ultrasonic image coordinate system to the base coordinate system; the position vector includes attitude information and position information;

[0109] Calculate the difference of the position vectors to obtain the direction vector about the calibration line;

[0110] Obtain the loss function according to the direction vector and minimize it to obtain the calibration parameters.

[0111] Of course, for a storage medium containing computer-executable instructions provided by an embodiment of the present invention, the computer-executable instructions are not limited to the method operations described above, and can also execute the related operations in the ultrasonic probe calibration method provided by any embodiment of the present invention.

[0112] From the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software and necessary general hardware. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk, or optical disc of a computer, etc., including several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0113] It should be noted that in the embodiments of the above ultrasonic probe calibration device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0114] Although the present invention has been described in detail above with general descriptions, specific embodiments and experiments, modifications or improvements can be made to it on the basis of the present invention, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. An ultrasonic probe calibration method, characterized in that, Including: Scanning calibration lines perpendicular to the space to obtain at least two sets of joint angle information of the robotic arm connected to the ultrasonic probe and ultrasonic image information about the calibration lines; Performing flange-base coordinate transformation on the joint angle information to determine attitude information and position information; the flange-base coordinate transformation is the transformation from the flange coordinate system to the base coordinate system; Selecting the marked point parameters in the ultrasonic image information and obtaining the position vector through image-base coordinate transformation; the image-base coordinate transformation is the transformation from the ultrasonic image coordinate system to the base coordinate system; the position vector includes the attitude information and the position information; Calculating the difference of the position vector to obtain the direction vector of the calibration line; Obtaining the calibration parameters by minimizing the loss function according to the direction vector; The loss function includes a first loss function regarding perpendicularity and / or parallelism between different calibration lines and a second loss function regarding the collinearity constraint of the same calibration line; the first loss function is a function of the rotation matrix, and the second loss function is a function of the rotation matrix and the translation vector; The calibration parameters include the rotation matrix and the translation vector of the ultrasonic plane coordinate system with respect to the flange coordinate system; The obtaining of the calibration parameters by minimizing the loss function according to the direction vector specifically includes: According to the direction vector, minimizing the calculation of the first loss function to obtain the rotation matrix; According to the rotation matrix, minimizing the calculation of the second loss function to obtain the translation vector.

2. The ultrasonic probe calibration method according to claim 1, wherein The calibration lines perpendicular to the space include nylon lines arranged inside the water tank in the directions of the X-axis, Y-axis, and Z-axis.

3. The ultrasonic probe calibration method according to claim 2, wherein The obtaining of at least two sets of joint angle information of the robotic arm connected to the ultrasonic probe and ultrasonic image information about the calibration lines specifically includes: Translating the ultrasonic probe along the arrangement direction of the nylon line respectively to obtain the first set of joint angle information and ultrasonic image information; Adjusting the attitude of the ultrasonic probe and repeating the translation of the ultrasonic probe along the arrangement direction of the nylon line to obtain the second set of joint angle information and ultrasonic image information.

4. The ultrasonic probe calibration method according to claim 1, wherein The selecting of the marked point parameters in the ultrasonic image information and obtaining the position vector through image-base coordinate transformation specifically includes: Performing threshold segmentation on the ultrasonic image information to obtain the marked point parameters; Converting the marked point parameters from the ultrasonic image coordinate system to the ultrasonic plane coordinate system; Combining the attitude information and position information in the base coordinate system and converting the marked point parameters from the ultrasonic plane coordinate system to the base coordinate system.

5. An ultrasonic probe calibration and evaluation device, characterized in that Including: An information acquisition module for scanning calibration lines perpendicular to the space to obtain at least two sets of joint angle information and ultrasonic image information; A first coordinate transformation module for performing flange-base coordinate transformation on the joint angle information to determine attitude information and position information; the flange-base coordinate transformation is the transformation from the flange coordinate system to the base coordinate system; The second coordinate conversion module is configured to select the marker point parameters in the ultrasonic image information and obtain a position vector through image-base coordinate conversion; the image-base coordinate conversion is the conversion from the ultrasonic image coordinate system to the base coordinate system; the position vector includes the attitude information and the position information; The difference calculation module is configured to calculate the difference of the position vector to obtain a direction vector with respect to the calibration line; The calibration parameter calculation module is configured to obtain a loss function by using the direction vector and minimize it to obtain calibration parameters; The loss function includes a first loss function regarding perpendicularity and / or parallelism between different calibration lines and a second loss function regarding the collinearity constraint of the same calibration line; the first loss function is a function of the rotation matrix, and the second loss function is a function of the rotation matrix and the translation vector; The calibration parameters include the rotation matrix and the translation vector of the ultrasonic plane coordinate system with respect to the flange coordinate system; The calibration parameter calculation module is configured to perform the following operations: According to the direction vector, minimize the calculation of the first loss function to obtain the rotation matrix; According to the rotation matrix, minimize the calculation of the second loss function to obtain the translation vector.

6. An electronic device, characterized in that, The electronic device includes: One or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the ultrasonic probe calibration method according to any one of claims 1-4.

7. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions are used to execute the ultrasonic probe calibration method according to any one of claims 1-4 when executed by a computer processor.

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