Ultrasonic probe calibration method and calibration device based on ellipse fitting

The invention discloses an ultrasonic probe calibration method and device based on ellipse fitting, and the method comprises the steps: firstly designing a spherical calibration model, and enabling an ultrasonic probe to collect the position xi of the sphere center of the spherical calibration model in a two-dimensional ultrasonic image coordinate system; transformation from a two-dimensional ultrasonic image coordinate system to a three-dimensional world coordinate system is achieved through coordinate transformation, and coordinates of the center of sphere of the spherical calibration model in the three-dimensional world coordinate system are obtained; multiple groups of xi and xw point pairs are obtained through multiple times of measurement, and a calibration equation xs is output according to the six-degree-of-freedom sensor; and solving the calibration equation xs by adopting a classical algorithm ICP in a point set rigid registration algorithm to obtain a calibration transformation matrix, including a