Karl Storz Se Co. & Kg

Universidade Do Minho

Instituto Politécnico Do Cávado E Do Ave

Sandro Filipe Monteiro Queirós

Jorge Manuel Nunes Correia Pinto

João Luís Araújo Martins Vilaça

João Luís Gomes Da Fonseca

Estevão Augusto Rodrigues De Lima

João Luís ARAÚJO Martins VILAÇA

Guided percutanous device and method for providing visual representations of organ registration and tracking 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 EMT sensor for placing in the organ to indicate a percutaneous procedure target, a needle with an EMT sensor, an ultrasound (US) probe with an EMT sensor, and an electronic data processor configured for carrying out the steps of: loading preoperative imaging data; receiving 3D poses of the catheter, needle and US probe from the EMT; receiving intraoperative imaging data; calculating transformation matrices and multiplying said matrices to transform said imaging data and needle pose to a catheter pose; generating a visual representation of the transformed imaging data and needle pose for displaying on a user interface; generating a visual representation of the transformed registered preoperative imaging data for displaying on a user interface.

Method and device for registration and tracking during a percutaneous procedure

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Braga, Portugal

Sandro Filipe Monteiro Queirós