Method and device for generating an uncertainty map for guided percutaneous procedures

A guided percutaneous uncertainty mapping device 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 defining an EMT coordinate system, a catheter with a catheter EMT sensor for placing in the organ to mark a percutaneous procedure target, a needle with a needle EMT sensor and an electronic data processor configured for carrying out the steps of:

• receiving an indication of the percutaneous procedure target;
• receiving a set of 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;
• linearly combining the estimated needle and catheter uncertainties by error propagation;
• estimating a trajectory uncertainty of the needle departing from a current position and orientation of the needle;
• and
• generating a visual representation of the estimated trajectory uncertainty with respect to the percutaneous procedure target for displaying on a user interface.

A 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 defining an EMT coordinate system, a catheter with a catheter EMT sensor for placing in the organ to mark a percutaneous procedure target, a needle with a needle EMT sensor and an electronic data processor, the method comprising:

• receiving an indication of the percutaneous procedure target;
• receiving 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;
• and
• 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.

A non-transitory computer-readable information storage medium comprising computer program instructions for implementing a guided percutaneous uncertainty mapping device for providing visual representations of an uncertainty map with respect to an organ during a guided percutaneous procedure using an EMT system, which when executed by a processor, cause the processor to carry out the method of comprising:

• receiving an indication of a percutaneous procedure target:
• receiving 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;
• and
• 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.