Ultrasonic probe calibration method, device and equipment and storage medium

The invention relates to an ultrasonic probe calibration method, device and equipment and a storage medium, and the method comprises the steps: scanning a calibration line perpendicular to a space, and obtaining joint angle information and ultrasonic image information; flange-base coordinate conversion joint angle information is carried out, and attitude information and position information are obtained; selecting calibration point parameters in the ultrasonic image information, and obtaining a position vector through image-base coordinate conversion; calculating a position vector according to a difference value to obtain a direction vector about the calibration line; and obtaining a loss function by using the direction vector and minimizing the loss function to obtain a calibration parameter. According to the ultrasonic probe calibration method, device and equipment and the storage medium provided by the invention, the joint angle information and the ultrasonic image information are respectively acquired by