hematuria is one of the most common genitourinary findings in children and extensive evaluation frequently fails to establish its etiology. ‎a known cause of hematuria in children is nephrolithiasis. ultrasound is a good method for diagnosis, but calculi less than 5 mm in diameter may not have a posterior shadow. calyceal microlithiasis (cm) is characterized by presence of hyperechogenic spots ...

This paper describes a high resolution freehand 3D ultrasound system, whose accuracy surpasses that of previously documented systems. Such accuracy is achieved through a series of novel system design and calibration techniques. The accuracy is quantified using a purpose-built, tissue-mimicking phantom, designed to create idealised in vivo scanning conditions. The paper includes a thorough discu...