Hossein Sadjadi
Postdoctoral Fellow
Queen’s University
Member from 2010 to 2016
Hossein Sadjadi received his Ph.D. degree in electrical engineering from Queen’s University, Canada, the M.Sc. degree in mechatronics, and the B.Sc. degree in electrical engineering in 2014, 2009 and 2004 respectively. He served as an automation engineer and contributed to the design, planning, and execution of several industrial Siemens SCADA/DCS projects. He also held a senior mechatronics specialist position and developed various robotic platforms and embedded systems. At Queen’s university, he carried out extensive research pertaining to surgical navigation for robotic image-guided interventional systems. Following graduatuion, he was a postdoctoral researcher with the Laboratory for Percutaneous Surgery, and his research interests include probabilistic robotics, sensor fusion, medical robotics, and mechatronic systems.
Lugez, Elodie; Sadjadi, Hossein; Joshi, Chandra P; Hashtrudi-Zaad, Keyvan; Akl, Selim G; Fichtinger, Gabor
Field distortion compensation for electromagnetic tracking of ultrasound probes with application in high-dose-rate prostate brachytherapy Journal Article
In: Biomedical Physics & Engineering Express, vol. 5, iss. 3, pp. 035026, 2019.
@article{fichtinger2019k,
title = {Field distortion compensation for electromagnetic tracking of ultrasound probes with application in high-dose-rate prostate brachytherapy},
author = {Elodie Lugez and Hossein Sadjadi and Chandra P Joshi and Keyvan Hashtrudi-Zaad and Selim G Akl and Gabor Fichtinger},
url = {https://iopscience.iop.org/article/10.1088/2057-1976/ab12b6/meta},
year = {2019},
date = {2019-01-01},
journal = {Biomedical Physics & Engineering Express},
volume = {5},
issue = {3},
pages = {035026},
publisher = {IOP Publishing},
abstract = {Purpose
Electromagnetic (EM) tracking of ultrasound (US) probes has been introduced to expand US imaging capabilities and benefit challenging procedures. However, various instruments—including the US probe itself—may introduce dynamic distortions to the EM field, and compromise the EM measurements. Basic filtering methods, such as those provided by manufacturers, are usually inefficient as they do not allow for field distortion compensation. We propose to use a simultaneous localization and mapping (SLAM) algorithm to track the transrectal US (TRUS) probe while dynamically detect, map, and correct the EM field distortions.
Methods
Combining the motion model of the tracked probe, the observations made by a few redundant EM sensors, and the field distortions map, the SLAM algorithm relied on an extended Kalman filter (EKF) to estimate the tracking measurements. The SLAM technique was …},
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pubstate = {published},
tppubtype = {article}
}
Purpose
Electromagnetic (EM) tracking of ultrasound (US) probes has been introduced to expand US imaging capabilities and benefit challenging procedures. However, various instruments—including the US probe itself—may introduce dynamic distortions to the EM field, and compromise the EM measurements. Basic filtering methods, such as those provided by manufacturers, are usually inefficient as they do not allow for field distortion compensation. We propose to use a simultaneous localization and mapping (SLAM) algorithm to track the transrectal US (TRUS) probe while dynamically detect, map, and correct the EM field distortions.
Methods
Combining the motion model of the tracked probe, the observations made by a few redundant EM sensors, and the field distortions map, the SLAM algorithm relied on an extended Kalman filter (EKF) to estimate the tracking measurements. The SLAM technique was …
Electromagnetic (EM) tracking of ultrasound (US) probes has been introduced to expand US imaging capabilities and benefit challenging procedures. However, various instruments—including the US probe itself—may introduce dynamic distortions to the EM field, and compromise the EM measurements. Basic filtering methods, such as those provided by manufacturers, are usually inefficient as they do not allow for field distortion compensation. We propose to use a simultaneous localization and mapping (SLAM) algorithm to track the transrectal US (TRUS) probe while dynamically detect, map, and correct the EM field distortions.
Methods
Combining the motion model of the tracked probe, the observations made by a few redundant EM sensors, and the field distortions map, the SLAM algorithm relied on an extended Kalman filter (EKF) to estimate the tracking measurements. The SLAM technique was …
Lugez, Elodie; Sadjadi, Hossein; Joshi, Chandra P; Akl, Selim G; Fichtinger, Gabor
Improved electromagnetic tracking for catheter path reconstruction with application in high-dose-rate brachytherapy Journal Article
In: International journal of computer assisted radiology and surgery, vol. 12, pp. 681-689, 2017.
@article{fichtinger2017e,
title = {Improved electromagnetic tracking for catheter path reconstruction with application in high-dose-rate brachytherapy},
author = {Elodie Lugez and Hossein Sadjadi and Chandra P Joshi and Selim G Akl and Gabor Fichtinger},
url = {https://link.springer.com/article/10.1007/s11548-017-1534-4},
year = {2017},
date = {2017-01-01},
journal = {International journal of computer assisted radiology and surgery},
volume = {12},
pages = {681-689},
publisher = {Springer International Publishing},
abstract = {Purpose
Electromagnetic (EM) catheter tracking has recently been introduced in order to enable prompt and uncomplicated reconstruction of catheter paths in various clinical interventions. However, EM tracking is prone to measurement errors which can compromise the outcome of the procedure. Minimizing catheter tracking errors is therefore paramount to improve the path reconstruction accuracy.
Methods
An extended Kalman filter (EKF) was employed to combine the nonlinear kinematic model of an EM sensor inside the catheter, with both its position and orientation measurements. The formulation of the kinematic model was based on the nonholonomic motion constraints of the EM sensor inside the catheter. Experimental verification was carried out in a clinical HDR suite. Ten catheters were inserted with mean curvatures varying from 0 to in a …},
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pubstate = {published},
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Purpose
Electromagnetic (EM) catheter tracking has recently been introduced in order to enable prompt and uncomplicated reconstruction of catheter paths in various clinical interventions. However, EM tracking is prone to measurement errors which can compromise the outcome of the procedure. Minimizing catheter tracking errors is therefore paramount to improve the path reconstruction accuracy.
Methods
An extended Kalman filter (EKF) was employed to combine the nonlinear kinematic model of an EM sensor inside the catheter, with both its position and orientation measurements. The formulation of the kinematic model was based on the nonholonomic motion constraints of the EM sensor inside the catheter. Experimental verification was carried out in a clinical HDR suite. Ten catheters were inserted with mean curvatures varying from 0 to in a …
Electromagnetic (EM) catheter tracking has recently been introduced in order to enable prompt and uncomplicated reconstruction of catheter paths in various clinical interventions. However, EM tracking is prone to measurement errors which can compromise the outcome of the procedure. Minimizing catheter tracking errors is therefore paramount to improve the path reconstruction accuracy.
Methods
An extended Kalman filter (EKF) was employed to combine the nonlinear kinematic model of an EM sensor inside the catheter, with both its position and orientation measurements. The formulation of the kinematic model was based on the nonholonomic motion constraints of the EM sensor inside the catheter. Experimental verification was carried out in a clinical HDR suite. Ten catheters were inserted with mean curvatures varying from 0 to in a …
Lugez, Elodie; Sadjadi, Hossein; Joshi, C. P.; Akl, Selim G.; Fichtinger, Gabor
Enhanced electromagnetic catheter tracking with application in high-dose-rate brachytherapy Conference
Imaging Network Ontario (Imno), 2016.
@conference{Lugez2016a,
title = {Enhanced electromagnetic catheter tracking with application in high-dose-rate brachytherapy},
author = {Elodie Lugez and Hossein Sadjadi and C. P. Joshi and Selim G. Akl and Gabor Fichtinger},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/02/Lugez2016a.pdf},
year = {2016},
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Sadjadi, Hossein; Hashtrudi‐Zaad, Keyvan; Fichtinger, Gabor
Simultaneous localization and calibration for electromagnetic tracking systems Journal Article
In: The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 12, iss. 2, pp. 189-198, 2016.
@article{fichtinger2016e,
title = {Simultaneous localization and calibration for electromagnetic tracking systems},
author = {Hossein Sadjadi and Keyvan Hashtrudi‐Zaad and Gabor Fichtinger},
url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1670},
year = {2016},
date = {2016-01-01},
journal = {The International Journal of Medical Robotics and Computer Assisted Surgery},
volume = {12},
issue = {2},
pages = {189-198},
abstract = {Background
In clinical environments, field distortion can cause significant electromagnetic tracking errors. Therefore, dynamic calibration of electromagnetic tracking systems is essential to compensate for measurement errors.
Methods
It is proposed to integrate the motion model of the tracked instrument with redundant EM sensor observations and to apply a simultaneous localization and mapping algorithm in order to accurately estimate the pose of the instrument and create a map of the field distortion in real‐time. Experiments were conducted in the presence of ferromagnetic and electrically‐conductive field distorting objects and results compared with those of a conventional sensor fusion approach.
Results
The proposed method reduced the tracking error from 3.94±1.61 mm to 1.82±0.62 mm in the presence of steel, and from 0.31±0.22 mm to 0.11±0.14 mm in the presence of aluminum.
Conclusions
With …},
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pubstate = {published},
tppubtype = {article}
}
Background
In clinical environments, field distortion can cause significant electromagnetic tracking errors. Therefore, dynamic calibration of electromagnetic tracking systems is essential to compensate for measurement errors.
Methods
It is proposed to integrate the motion model of the tracked instrument with redundant EM sensor observations and to apply a simultaneous localization and mapping algorithm in order to accurately estimate the pose of the instrument and create a map of the field distortion in real‐time. Experiments were conducted in the presence of ferromagnetic and electrically‐conductive field distorting objects and results compared with those of a conventional sensor fusion approach.
Results
The proposed method reduced the tracking error from 3.94±1.61 mm to 1.82±0.62 mm in the presence of steel, and from 0.31±0.22 mm to 0.11±0.14 mm in the presence of aluminum.
Conclusions
With …
In clinical environments, field distortion can cause significant electromagnetic tracking errors. Therefore, dynamic calibration of electromagnetic tracking systems is essential to compensate for measurement errors.
Methods
It is proposed to integrate the motion model of the tracked instrument with redundant EM sensor observations and to apply a simultaneous localization and mapping algorithm in order to accurately estimate the pose of the instrument and create a map of the field distortion in real‐time. Experiments were conducted in the presence of ferromagnetic and electrically‐conductive field distorting objects and results compared with those of a conventional sensor fusion approach.
Results
The proposed method reduced the tracking error from 3.94±1.61 mm to 1.82±0.62 mm in the presence of steel, and from 0.31±0.22 mm to 0.11±0.14 mm in the presence of aluminum.
Conclusions
With …
Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor
Simultaneous electromagnetic tracking and calibration for dynamic field distortion compensation Journal Article
In: IEEE Transactions on Biomedical Engineering (TBME), 2015.
@article{Sadjadi2015b,
title = {Simultaneous electromagnetic tracking and calibration for dynamic field distortion compensation},
author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger},
doi = {10.1109/TBME.2015.2502138},
year = {2015},
date = {2015-11-01},
urldate = {2015-11-01},
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Lugez, Elodie; Sadjadi, Hossein; Akl, Selim G.; Fichtinger, Gabor
Nonholonomic catheter path reconstruction using electromagnetic tracking Conference
SPIE Medical Imaging 2015, vol. 9415, 2015.
@conference{Lugez2015,
title = {Nonholonomic catheter path reconstruction using electromagnetic tracking},
author = {Elodie Lugez and Hossein Sadjadi and Selim G. Akl and Gabor Fichtinger},
url = {http://dx.doi.org/10.1117/12.2081561},
doi = {10.1117/12.2081561},
year = {2015},
date = {2015-01-01},
urldate = {2015-01-01},
booktitle = {SPIE Medical Imaging 2015},
volume = {9415},
pages = {94150L-94150L-7},
abstract = {<p>Catheter path reconstruction is a necessary step in many clinical procedures, such as cardiovascular interventions and high-dose-rate brachytherapy. To overcome limitations of standard imaging modalities, electromagnetic tracking has been employed to reconstruct catheter paths. However, tracking errors pose a challenge in accurate path reconstructions. We address this challenge by means of a filtering technique incorporating the electromagnetic measurements with the nonholonomic motion constraints of the sensor inside a catheter. The nonholonomic motion model of the sensor within the catheter and the electromagnetic measurement data were integrated using an extended Kalman filter. The performance of our proposed approach was experimentally evaluated using the Ascension’s 3D Guidance trakStar electromagnetic tracker. Sensor measurements were recorded during insertions of an electromagnetic sensor (model 55) along ten predefined ground truth paths. Our method was implemented in MATLAB and applied to the measurement data. Our reconstruction results were compared to raw measurements as well as filtered measurements provided by the manufacturer. The mean of the root-mean-square (RMS) errors along the ten paths was 3.7 mm for the raw measurements, and 3.3 mm with manufacturer’s filters. Our approach effectively reduced the mean RMS error to 2.7 mm. Compared to other filtering methods, our approach successfully improved the path reconstruction accuracy by exploiting the sensor’s nonholonomic motion constraints in its formulation. Our approach seems promising for a variety of clinical procedures involving reconstruction of a catheter path.</p>},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
<p>Catheter path reconstruction is a necessary step in many clinical procedures, such as cardiovascular interventions and high-dose-rate brachytherapy. To overcome limitations of standard imaging modalities, electromagnetic tracking has been employed to reconstruct catheter paths. However, tracking errors pose a challenge in accurate path reconstructions. We address this challenge by means of a filtering technique incorporating the electromagnetic measurements with the nonholonomic motion constraints of the sensor inside a catheter. The nonholonomic motion model of the sensor within the catheter and the electromagnetic measurement data were integrated using an extended Kalman filter. The performance of our proposed approach was experimentally evaluated using the Ascension’s 3D Guidance trakStar electromagnetic tracker. Sensor measurements were recorded during insertions of an electromagnetic sensor (model 55) along ten predefined ground truth paths. Our method was implemented in MATLAB and applied to the measurement data. Our reconstruction results were compared to raw measurements as well as filtered measurements provided by the manufacturer. The mean of the root-mean-square (RMS) errors along the ten paths was 3.7 mm for the raw measurements, and 3.3 mm with manufacturer’s filters. Our approach effectively reduced the mean RMS error to 2.7 mm. Compared to other filtering methods, our approach successfully improved the path reconstruction accuracy by exploiting the sensor’s nonholonomic motion constraints in its formulation. Our approach seems promising for a variety of clinical procedures involving reconstruction of a catheter path.</p>
Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor
Simultaneous Localization and Calibration for Electromagnetic Tracking Systems Journal Article
In: The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), 2015.
@article{Sadjadi2015a,
title = {Simultaneous Localization and Calibration for Electromagnetic Tracking Systems},
author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger},
doi = {10.1002/rcs},
year = {2015},
date = {2015-01-01},
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Qi, Yu; Sadjadi, Hossein; Yeo, Caitlin T; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor
Electromagnetic tracking performance analysis and optimization Conference
International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2014.
@conference{Sadjadi2014c,
title = {Electromagnetic tracking performance analysis and optimization},
author = {Yu Qi and Hossein Sadjadi and Caitlin T Yeo and Keyvan Hashtrudi-Zaad and Gabor Fichtinger},
year = {2014},
date = {2014-09-01},
urldate = {2014-09-01},
booktitle = {International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)},
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Lugez, Elodie; Sadjadi, Hossein; Pichora, David R; Ellis, Randy; Akl, Selim G.; Fichtinger, Gabor
Electromagnetic tracking in surgical and interventional environments: usability study Journal Article
In: Int J CARS, 2014.
@article{Lugez2014a,
title = {Electromagnetic tracking in surgical and interventional environments: usability study},
author = {Elodie Lugez and Hossein Sadjadi and David R Pichora and Randy Ellis and Selim G. Akl and Gabor Fichtinger},
url = {https://labs.cs.queensu.ca/perklab/wp-content/uploads/sites/3/2024/03/art2Fs11548-014-1110-0.pdf},
year = {2014},
date = {2014-09-01},
urldate = {2014-09-01},
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Lugez, Elodie; Sadjadi, Hossein; Akl, Selim G.; Fichtinger, Gabor
Electromagnetic Tracking for Catheter Path Reconstruction Conference
MICCAI, Image Guided Therapy Workshop, Massachusetts Institute of Technology, Boston, USA, 2014.
@conference{Lugez2014b,
title = {Electromagnetic Tracking for Catheter Path Reconstruction},
author = {Elodie Lugez and Hossein Sadjadi and Selim G. Akl and Gabor Fichtinger},
year = {2014},
date = {2014-09-01},
urldate = {2014-09-01},
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Sadjadi, Hossein
Electromagnetic instrument tracking in computer-assisted interventions Masters Thesis
Queen’s University, Kingston, ON, 2014.
@mastersthesis{Sadjadi2014d,
title = {Electromagnetic instrument tracking in computer-assisted interventions},
author = {Hossein Sadjadi},
url = {http://qspace.library.queensu.ca/handle/1974/12358},
year = {2014},
date = {2014-08-01},
urldate = {2014-08-01},
volume = {PhD},
address = {Kingston, ON},
school = {Queen’s University},
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pubstate = {published},
tppubtype = {mastersthesis}
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Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor
Needle Deflection Estimation: Prostate Brachytherapy Phantom Experiments Journal Article
In: International Journal of Computer Assisted Radiology and Surgery (IJCARS), 2014.
@article{Sadjadi2014b,
title = {Needle Deflection Estimation: Prostate Brachytherapy Phantom Experiments},
author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger},
url = {http://dx.doi.org/10.1007/s11548-014-0985-0},
doi = {10.1007/s11548-014-0985-0},
year = {2014},
date = {2014-03-01},
urldate = {2014-03-01},
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Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor
Development and Evaluation of a Needle Deflection Estimation Method Conference
12th Imaging Network Ontario Symposium (ImNO 2014), 2014.
@conference{Sadjadi2014a,
title = {Development and Evaluation of a Needle Deflection Estimation Method},
author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger},
year = {2014},
date = {2014-03-01},
urldate = {2014-03-01},
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Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor
Needle deflection estimation: prostate brachytherapy phantom experiments Journal Article
In: International journal of computer assisted radiology and surgery, vol. 9, pp. 921-929, 2014.
@article{fichtinger2014d,
title = {Needle deflection estimation: prostate brachytherapy phantom experiments},
author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger},
url = {https://link.springer.com/article/10.1007/s11548-014-0985-0},
year = {2014},
date = {2014-01-01},
journal = {International journal of computer assisted radiology and surgery},
volume = {9},
pages = {921-929},
publisher = {Springer Berlin Heidelberg},
abstract = {Purpose
The performance of a fusion-based needle deflection estimation method was experimentally evaluated using prostate brachytherapy phantoms. The accuracy of the needle deflection estimation was determined. The robustness of the approach with variations in needle insertion speed and soft tissue biomechanical properties was investigated.
Methods
A needle deflection estimation method was developed to determine the amount of needle bending during insertion into deformable tissue by combining a kinematic deflection model with measurements taken from two electromagnetic trackers placed at the tip and the base of the needle. Experimental verification of this method for use in prostate brachytherapy needle insertion procedures was performed. A total of 21 beveled tip, 18 ga, 200 mm needles were manually inserted at various speeds through a …},
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tppubtype = {article}
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Purpose
The performance of a fusion-based needle deflection estimation method was experimentally evaluated using prostate brachytherapy phantoms. The accuracy of the needle deflection estimation was determined. The robustness of the approach with variations in needle insertion speed and soft tissue biomechanical properties was investigated.
Methods
A needle deflection estimation method was developed to determine the amount of needle bending during insertion into deformable tissue by combining a kinematic deflection model with measurements taken from two electromagnetic trackers placed at the tip and the base of the needle. Experimental verification of this method for use in prostate brachytherapy needle insertion procedures was performed. A total of 21 beveled tip, 18 ga, 200 mm needles were manually inserted at various speeds through a …
The performance of a fusion-based needle deflection estimation method was experimentally evaluated using prostate brachytherapy phantoms. The accuracy of the needle deflection estimation was determined. The robustness of the approach with variations in needle insertion speed and soft tissue biomechanical properties was investigated.
Methods
A needle deflection estimation method was developed to determine the amount of needle bending during insertion into deformable tissue by combining a kinematic deflection model with measurements taken from two electromagnetic trackers placed at the tip and the base of the needle. Experimental verification of this method for use in prostate brachytherapy needle insertion procedures was performed. A total of 21 beveled tip, 18 ga, 200 mm needles were manually inserted at various speeds through a …
Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor
Fusion of Electromagnetic Trackers to Improve Needle Deflection Estimation: Simulation Study Journal Article
In: IEEE Transactions on Biomedical Engineering, vol. 60, pp. 2706 - 2715, 2013, ISSN: 0018-9294.
@article{Sadjadi2013a,
title = {Fusion of Electromagnetic Trackers to Improve Needle Deflection Estimation: Simulation Study},
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Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Xu, Helen; Fichtinger, Gabor
Experimental evaluation of needle deflection estimation for brachytherapy Conference
Computer Assisted Radiology and Surgery (CARS 2013), 2013.
@conference{Sadjadi2013b,
title = {Experimental evaluation of needle deflection estimation for brachytherapy},
author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Helen Xu and Gabor Fichtinger},
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Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor
Fusion of electromagnetic trackers to improve needle deflection estimation: simulation study Journal Article
In: IEEE transactions on Biomedical Engineering, vol. 60, iss. 10, pp. 2706-2715, 2013.
@article{fichtinger2013h,
title = {Fusion of electromagnetic trackers to improve needle deflection estimation: simulation study},
author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger},
url = {https://ieeexplore.ieee.org/abstract/document/6515302/},
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journal = {IEEE transactions on Biomedical Engineering},
volume = {60},
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abstract = {We present a needle deflection estimation method to anticipate needle bending during insertion into deformable tissue. Using limited additional sensory information, our approach reduces the estimation error caused by uncertainties inherent in the conventional needle deflection estimation methods. We use Kalman filters to combine a kinematic needle deflection model with the position measurements of the base and the tip of the needle taken by electromagnetic (EM) trackers. One EM tracker is installed on the needle base and estimates the needle tip position indirectly using the kinematic needle deflection model. Another EM tracker is installed on the needle tip and estimates the needle tip position through direct, but noisy measurements. Kalman filters are then employed to fuse these two estimates in real time and provide a reliable estimate of the needle tip position, with reduced variance in the estimation error …},
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We present a needle deflection estimation method to anticipate needle bending during insertion into deformable tissue. Using limited additional sensory information, our approach reduces the estimation error caused by uncertainties inherent in the conventional needle deflection estimation methods. We use Kalman filters to combine a kinematic needle deflection model with the position measurements of the base and the tip of the needle taken by electromagnetic (EM) trackers. One EM tracker is installed on the needle base and estimates the needle tip position indirectly using the kinematic needle deflection model. Another EM tracker is installed on the needle tip and estimates the needle tip position through direct, but noisy measurements. Kalman filters are then employed to fuse these two estimates in real time and provide a reliable estimate of the needle tip position, with reduced variance in the estimation error …
Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor
Needle Deflection Estimation using Fusion of Electromagnetic Trackers Conference
34th Annual International Conference of the IEEE EMBS (EMBC 2012), San Diego, California USA, 2012.
@conference{Sadjadi2012,
title = {Needle Deflection Estimation using Fusion of Electromagnetic Trackers},
author = {Hossein Sadjadi and Keyvan Hashtrudi-Zaad and Gabor Fichtinger},
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address = {San Diego, California USA},
abstract = {<p>We present a needle deflection estimation method to compensate for needle bending during insertion into deformable tissue. We combine a kinematic needle deflection estimation model, electromagnetic (EM) trackers, and a Kalman filter (KF). We reduce the impact of error from the needle deflection estimation model by using the fusion of two EM trackers to report the approximate needle tip position in real-time. One reliable EM tracker is installed on the needle base, and estimates the needle tip position using the kinematic needle deflection model. A smaller but much less reliable EM tracker is installed on the needle tip, and estimates the needle tip position through direct noisy measurements. Using a KF, the sensory information from both EM trackers is fused to provide a reliable estimate of the needle tip position with much reduced variance in the estimation error. We then implement this method to compensate for needle deflection during simulated prostate cancer brachytherapy needle insertion. At a typical maximum insertion depth of 15 cm, needle tip mean estimation error was reduced from 2.39 mm to 0.31 mm, which demonstrates the effectiveness of our method, offering a clinically practical solution.</p>},
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<p>We present a needle deflection estimation method to compensate for needle bending during insertion into deformable tissue. We combine a kinematic needle deflection estimation model, electromagnetic (EM) trackers, and a Kalman filter (KF). We reduce the impact of error from the needle deflection estimation model by using the fusion of two EM trackers to report the approximate needle tip position in real-time. One reliable EM tracker is installed on the needle base, and estimates the needle tip position using the kinematic needle deflection model. A smaller but much less reliable EM tracker is installed on the needle tip, and estimates the needle tip position through direct noisy measurements. Using a KF, the sensory information from both EM trackers is fused to provide a reliable estimate of the needle tip position with much reduced variance in the estimation error. We then implement this method to compensate for needle deflection during simulated prostate cancer brachytherapy needle insertion. At a typical maximum insertion depth of 15 cm, needle tip mean estimation error was reduced from 2.39 mm to 0.31 mm, which demonstrates the effectiveness of our method, offering a clinically practical solution.</p>
Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor
Needle deflection estimation using fusion of electromagnetic trackers Journal Article
In: pp. 952-955, 2012.
@article{fichtinger2012m,
title = {Needle deflection estimation using fusion of electromagnetic trackers},
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pages = {952-955},
publisher = {IEEE},
abstract = {We present a needle deflection estimation method to compensate for needle bending during insertion into deformable tissue. We combine a kinematic needle deflection estimation model, electromagnetic (EM) trackers, and a Kalman filter (KF). We reduce the impact of error from the needle deflection estimation model by using the fusion of two EM trackers to report the approximate needle tip position in real-time. One reliable EM tracker is installed on the needle base, and estimates the needle tip position using the kinematic needle deflection model. A smaller but much less reliable EM tracker is installed on the needle tip, and estimates the needle tip position through direct noisy measurements. Using a KF, the sensory information from both EM trackers is fused to provide a reliable estimate of the needle tip position with much reduced variance in the estimation error. We then implement this method to compensate for …},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
We present a needle deflection estimation method to compensate for needle bending during insertion into deformable tissue. We combine a kinematic needle deflection estimation model, electromagnetic (EM) trackers, and a Kalman filter (KF). We reduce the impact of error from the needle deflection estimation model by using the fusion of two EM trackers to report the approximate needle tip position in real-time. One reliable EM tracker is installed on the needle base, and estimates the needle tip position using the kinematic needle deflection model. A smaller but much less reliable EM tracker is installed on the needle tip, and estimates the needle tip position through direct noisy measurements. Using a KF, the sensory information from both EM trackers is fused to provide a reliable estimate of the needle tip position with much reduced variance in the estimation error. We then implement this method to compensate for …