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

Abstract

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.