Elodie Lugez
Graduate student (PhD)
School of Computing
Queen's University
Elodie Lugez received her MSc and BSc engineering degrees in Telecommunications and Networks from Télécom Saint-Etienne, Jean Monnet University, Saint Etienne, France in 2011. She acted as a project manager at Capgemini Outsourcing, Montbonnot, France where she supervised network administrator teams in several projects for Scheider Electric. She defended her PhD in 2016 at the Laboratory for Percutaneous Surgery, Queen's University, Kingston, ON, Canada; her research pertained to electromagnetic tracking for surgical navigation.
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 …},
keywords = {},
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 …},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
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},
date = {2016-01-01},
urldate = {2016-01-01},
booktitle = {Imaging Network Ontario (Imno)},
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pubstate = {published},
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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>
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},
journal = {Int J CARS},
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pubstate = {published},
tppubtype = {article}
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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},
booktitle = {MICCAI, Image Guided Therapy Workshop},
pages = {43},
address = {Massachusetts Institute of Technology, Boston, USA},
keywords = {},
pubstate = {published},
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