An apparatus for calibration of a probe (22) that includes a magnetic position sensor and an acoustic imaging device has a rigid mechanical framework. One or more field generators (48,50,52), fixed to the framework, generate a magnetic field of known spatial characteristics. An acoustic target assembly (46) includes a phantom (56) coupled to a motion mechanism, which is arranged to move the phantom in a known orbit relative to the framework. A jig (54), fixed to the framework, holds the probe within the magnetic field of the one or more field generators, in an orientation suitable for the imaging device to image the phantom. A processor processes position and image signals from the probe in order to calibrate coordinates of the imaging device relative to the position sensor.
