Guided percutaneous uncertainty mapping device and method for providing visual representations of an uncertainty map with respect to an organ during a guided percutaneous procedure using an electromagnetic tracking (EMT) system comprising an EMT field generator and tracker, a catheter with a EMT sensor for placing in the organ to mark a percutaneous procedure target, and a needle with an EMT sensor and an electronic data processor configured for carrying out the steps of: receiving an indication of a percutaneous procedure target; receiving three-dimensional (3D) positions and orientations of the catheter and the needle tracked in real-time from the EMT system; estimating the uncertainty of the received position and orientation of the needle; estimating the uncertainty of the received position and orientation of the catheter; estimating a trajectory uncertainty of the needle departing from a current position and orientation of the needle; generating a visual representation of the estimated trajectory uncertainty and catheter uncertainty with respect to the EMT coordinate system for displaying on a user interface.
The present disclosure relates to a method and device for generating an uncertainty map system for providing visual representations of uncertainty during guided percutaneous procedures to an internal organ, in particular the kidney.
A61B 1/00 2006.1
A61B 8/08 2006.1
A61B 34/00 2016.1
A61B 8/00 2006.1
A61B 34/20 2016.1
November 3, 2022
WIPO WO2022229916 – Pending
João Luís Gomes da Fonseca
João Luís Araújo Martins Vilaça
Sandro Filipe Monteiro Queirós
Estevão Augusto Rodrigues de lima
Jorge Manuel Nunes Correia Pinto
University of Minho
Polytechnic Institute of Cávado and Ave