{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,15]],"date-time":"2026-03-15T00:17:43Z","timestamp":1773533863356,"version":"3.50.1"},"reference-count":32,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2017,2,18]],"date-time":"2017-02-18T00:00:00Z","timestamp":1487376000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100009142","name":"Cancer Care Ontario","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100009142","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Ride for Dad Foundation"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J CARS"],"published-print":{"date-parts":[[2017,4]]},"DOI":"10.1007\/s11548-017-1534-4","type":"journal-article","created":{"date-parts":[[2017,2,18]],"date-time":"2017-02-18T01:25:52Z","timestamp":1487381152000},"page":"681-689","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Improved electromagnetic tracking for catheter path reconstruction with application in high-dose-rate brachytherapy"],"prefix":"10.1007","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5837-7490","authenticated-orcid":false,"given":"Elodie","family":"Lugez","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hossein","family":"Sadjadi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chandra P.","family":"Joshi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Selim G.","family":"Akl","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gabor","family":"Fichtinger","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2017,2,18]]},"reference":[{"key":"1534_CR1","doi-asserted-by":"crossref","unstructured":"Bender H-J, M\u00e4nner R, Poliwoda C, Roth S, Walz M (1999) Reconstruction of 3d catheter paths from 2d x-ray projections. In: Medical image computing and computer-assisted intervention\u2014MICCAI 99, vol 1679. Springer, Berlin, pp 981\u2013989","DOI":"10.1007\/10704282_107"},{"issue":"6","key":"1534_CR2","doi-asserted-by":"crossref","first-page":"640","DOI":"10.1016\/j.brachy.2014.05.012","volume":"13","author":"S Bharat","year":"2014","unstructured":"Bharat S, Kung C, Dehghan E, Ravi A, Venugopal N, Bonillas A, Stanton D, Kruecker J (2014) Electromagnetic tracking for catheter reconstruction in ultrasound-guided high-dose-rate brachytherapy of the prostate. Brachytherapy 13(6):640\u2013650","journal-title":"Brachytherapy"},{"issue":"3","key":"1534_CR3","doi-asserted-by":"crossref","first-page":"490","DOI":"10.1016\/j.radonc.2011.08.004","volume":"101","author":"M Whitaker","year":"2011","unstructured":"Whitaker M, Hruby G, Lovett A, Patanjali N (2011) Prostate hdr brachytherapy catheter displacement between planning and treatment delivery. Radiother Oncol 101(3):490\u2013494","journal-title":"Radiother Oncol"},{"issue":"2","key":"1534_CR4","doi-asserted-by":"crossref","first-page":"253","DOI":"10.1016\/j.radonc.2009.09.015","volume":"93","author":"T Simnor","year":"2009","unstructured":"Simnor T, Li S, Lowe G, Ostler P, Bryant L, Chapman C, Inchley D, Hoskin PJ (2009) Justification for inter-fraction correction of catheter movement in fractionated high dose-rate brachytherapy treatment of prostate cancer. Radiother Oncol 93(2):253\u2013258","journal-title":"Radiother Oncol"},{"issue":"1","key":"1534_CR5","first-page":"399","volume":"39","author":"LE B\u00f8","year":"2012","unstructured":"B\u00f8 LE, Leira HO, Tangen GA, Hofstad EF, Amundsen T, Lang\u00f8 T (2012) Accuracy of electromagnetic tracking with a prototype field generator in an interventional or setting. Med Phys 39(1):399\u2013406","journal-title":"Med Phys"},{"issue":"6","key":"1534_CR6","doi-asserted-by":"crossref","first-page":"951","DOI":"10.1109\/TMI.2008.2008954","volume":"28","author":"M Feuerstein","year":"2009","unstructured":"Feuerstein M, Reichl T, Vogel J, Traub J, Navab N (2009) Magneto-optical tracking of flexible laparoscopic ultrasound: model-based online detection and correction of magnetic tracking errors. IEEE Trans Med Imaging 28(6):951\u2013967","journal-title":"IEEE Trans Med Imaging"},{"key":"1534_CR7","unstructured":"May 2016. [Online]. www.sjm.com\/\/media\/pro\/therapies\/mediguide\/8350-mediguide-1114-0022-brochure-r3final"},{"issue":"2","key":"1534_CR8","doi-asserted-by":"crossref","first-page":"021716","DOI":"10.1118\/1.4788641","volume":"40","author":"J Zhou","year":"2013","unstructured":"Zhou J, Sebastian E, Mangona D, and Yan V (2013) Real-time catheter tracking for high-dose-rate prostate brachytherapy using an electromagnetic 3d-guidance device: a preliminary performance study. Med Phys 40(2):021716","journal-title":"Med Phys"},{"key":"1534_CR9","doi-asserted-by":"crossref","first-page":"S41","DOI":"10.1016\/j.brachy.2014.02.265","volume":"13","author":"AM Nicolae","year":"2014","unstructured":"Nicolae AM, Bharat S, Kung C, Venugopal N, Dehghan E, Bonillas A, Stanton D, Kruecker J, Ravi A (2014) Electromagnetic catheter digitization in prostate high-dose-rate brachytherapy treatment planning. Brachytherapy 13:S41","journal-title":"Brachytherapy"},{"key":"1534_CR10","doi-asserted-by":"publisher","unstructured":"Mehrtash A, Damato A, Pernelle G, Barber L, Farhat N, Viswanathan A, Cormack R, Kapur T (2014) Em-navigated catheter placement for gynecologic brachytherapy: an accuracy study. In: Proceedings of SPIE 9036, Medical imaging 2014: image-guided procedures, robotic interventions, and modeling, 90361F. doi: 10.1117\/12.2044381","DOI":"10.1117\/12.2044381"},{"issue":"1","key":"1534_CR11","doi-asserted-by":"crossref","first-page":"53","DOI":"10.1016\/j.ejvs.2013.10.001","volume":"47","author":"S Condino","year":"2014","unstructured":"Condino S, Calabr\u00f2 EM, Alberti A, Parrini S, Cioni R, Berchiolli RN, Gesi M, Ferrari V, Ferrari M (2014) Simultaneous tracking of catheters and guidewires: comparison to standard fluoroscopic guidance for arterial cannulation. Eur J Vasc Endovasc 47(1):53\u201360","journal-title":"Eur J Vasc Endovasc"},{"issue":"10","key":"1534_CR12","doi-asserted-by":"crossref","first-page":"101702","DOI":"10.1118\/1.4894710","volume":"41","author":"AL Damato","year":"2014","unstructured":"Damato AL, Viswanathan AN, Don SM, Hansen JL, Cormack RA (2014) A system to use electromagnetic tracking for the quality assurance of brachytherapy catheter digitization. Med Phys 41(10):101702","journal-title":"Med Phys"},{"issue":"3","key":"1534_CR13","doi-asserted-by":"crossref","first-page":"1227","DOI":"10.1118\/1.4908011","volume":"42","author":"E Poulin","year":"2015","unstructured":"Poulin E, Racine E, Binnekamp D, Beaulieu L (2015) Fast, automatic, and accurate catheter reconstruction in hdr brachytherapy using an electromagnetic 3d tracking system. Med Phys 42(3):1227\u20131232","journal-title":"Med Phys"},{"issue":"3","key":"1534_CR14","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1007\/BF01409422","volume":"5","author":"V Kindratenko","year":"2000","unstructured":"Kindratenko V (2000) A survey of electromagnetic position tracker calibration techniques. Virtual Real 5(3):169\u2013182","journal-title":"Virtual Real"},{"issue":"3","key":"1534_CR15","doi-asserted-by":"crossref","first-page":"253","DOI":"10.1007\/s11548-014-1110-0","volume":"10","author":"E Lugez","year":"2015","unstructured":"Lugez E, Sadjadi H, Pichora DR, Ellis RE, Akl SG, Fichtinger G (2015) Electromagnetic tracking in surgical and interventional environments: usability study. Int J Comput Assist Radiol Surg 10(3):253\u2013262","journal-title":"Int J Comput Assist Radiol Surg"},{"key":"1534_CR16","doi-asserted-by":"crossref","first-page":"141","DOI":"10.1016\/S0021-9290(02)00322-6","volume":"36","author":"S LaScalza","year":"2003","unstructured":"LaScalza S, Arico J, Hughes R (2003) Effect of metal and sampling rate on accuracy of flock of birds electromagnetic tracking system. J Biomech 36:141\u2013144","journal-title":"J Biomech"},{"key":"1534_CR17","doi-asserted-by":"publisher","unstructured":"Wilson E, Yaniv Z, Zhang H, Nafis C, Shen E, Shechter G, Wiles AD, Peters T, Lindisch D, Cleary K (2007) A hardware and software protocol for the evaluation of electromagnetic tracker accuracy in the clinical environment: a multi center study. In: Proceedings of SPIE 6509, Medical imaging 2007: visualization and image-guided procedures, 65092T. doi: 10.1117\/12.712701","DOI":"10.1117\/12.712701"},{"key":"1534_CR18","unstructured":"Ascension Technology Corporation. 3D Guidance trakSTAR 2, Installation and Operation Guide"},{"key":"1534_CR19","doi-asserted-by":"publisher","unstructured":"Lugez E, Sadjadi H, Akl SG, Fichtinger G (2015) Nonholonomic catheter path reconstruction using electromagnetic tracking. In: Proceedings of SPIE 9415, Medical imaging 2015: image-guided procedures, Robotic interventions, and modeling, 94150L. doi: 10.1117\/12.2081561","DOI":"10.1117\/12.2081561"},{"key":"1534_CR20","volume-title":"An introduction to the kalman filter","author":"G Welch","year":"2006","unstructured":"Welch G, Bishop G (2006) An introduction to the kalman filter. University of North Carolina, Chapel Hill"},{"issue":"3","key":"1534_CR21","first-page":"320","volume":"52","author":"AM Bloch","year":"2005","unstructured":"Bloch AM, Marsden JE, Zenkov DV (2005) Nonholonomic dynamics. Notices AMS 52(3):320\u2013329","journal-title":"Notices AMS"},{"issue":"7","key":"1534_CR22","doi-asserted-by":"crossref","first-page":"789","DOI":"10.1177\/0278364909352202","volume":"29","author":"V Duindam","year":"2010","unstructured":"Duindam V, Xu J, Alterovitz R, Sastry S, Goldberg K (2010) Three-dimensional motion planning algorithms for steerable needles using inverse kinematics. Int J Robot Research 29(7):789\u2013800","journal-title":"Int J Robot Research"},{"issue":"5\u20136","key":"1534_CR23","doi-asserted-by":"crossref","first-page":"509","DOI":"10.1177\/0278364906065388","volume":"25","author":"RJ Webster","year":"2006","unstructured":"Webster RJ, Kim JS, Cowan NJ, Chirikjian GS, Okamura AM (2006) Nonholonomic modeling of needle steering. Int J Robot Res 25(5\u20136):509\u2013525","journal-title":"Int J Robot Res"},{"key":"1534_CR24","doi-asserted-by":"crossref","unstructured":"Van Den Berg J, Patil S, Alterovitz R, Abbeel P, Goldberg K (2011) Lqg-based planning, sensing, and control of steerable needles. In: Algorithmic foundations of robotics IX. Springer, Berlin, vol 68, pp 373\u2013389","DOI":"10.1007\/978-3-642-17452-0_22"},{"issue":"4","key":"1534_CR25","doi-asserted-by":"crossref","first-page":"853","DOI":"10.1109\/TRO.2014.2307633","volume":"30","author":"S Patil","year":"2014","unstructured":"Patil S, Burgner J, Webster RJ, Alterovitz R (2014) Needle steering in 3-d via rapid replanning. IEEE Trans Robot 30(4):853\u2013864","journal-title":"IEEE Trans Robot"},{"key":"1534_CR26","doi-asserted-by":"crossref","first-page":"698","DOI":"10.1109\/TPAMI.1987.4767965","volume":"5","author":"KS Arun","year":"1987","unstructured":"Arun KS, Huang TS, Blostein SD (1987) Least-squares fitting of two 3-d point sets. IEEE Trans Pattern Anal Mach Intell 5:698\u2013700","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"issue":"6","key":"1534_CR27","doi-asserted-by":"crossref","first-page":"921","DOI":"10.1007\/s11548-014-0985-0","volume":"9","author":"H Sadjadi","year":"2014","unstructured":"Sadjadi H, Hashtrudi-Zaad K, Fichtinger G (2014) Needle deflection estimation: prostate brachytherapy phantom experiments. Int J Comput Assist Radiol Surg 9(6):921\u2013929","journal-title":"Int J Comput Assist Radiol Surg"},{"issue":"2","key":"1534_CR28","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1002\/rcs.1670","volume":"12","author":"Hossein Sadjadi","year":"2016","unstructured":"Sadjadi Hossein, Hashtrudi-Zaad Keyvan, Fichtinger Gabor (2016) Simultaneous localization and calibration for electromagnetic tracking systems. Int J Med Robot Comput Assist Surg 12(2):189\u2013198","journal-title":"Int J Med Robot Comput Assist Surg"},{"key":"1534_CR29","doi-asserted-by":"crossref","unstructured":"Sadjadi Hossein, Hashtrudi-Zaad Keyvan, Fichtinger Gabor (2016) Simultaneous electromagnetic tracking and calibration for dynamic field distortion compensation. IEEE Trans Biomed Eng 63(8):1771\u20131781","DOI":"10.1109\/TBME.2015.2502138"},{"issue":"4","key":"1534_CR30","doi-asserted-by":"crossref","first-page":"1066","DOI":"10.1016\/j.ijrobp.2009.03.052","volume":"76","author":"A Tiong","year":"2010","unstructured":"Tiong A, Bydder S, Ebert M, Caswell N, Waterhouse D, Spry N, Camille P, Joseph D (2010) A small tolerance for catheter displacement in high-dose rate prostate brachytherapy is necessary and feasible. Int J Radiat Oncol Biol Phys 76(4):1066\u20131072","journal-title":"Int J Radiat Oncol Biol Phys"},{"issue":"9","key":"1534_CR31","doi-asserted-by":"crossref","first-page":"1359","DOI":"10.1016\/j.ultrasmedbio.2006.05.013","volume":"32","author":"M Hastenteufel","year":"2006","unstructured":"Hastenteufel M, Vetter M, Meinzer H-P, Wolf I (2006) Effect of 3d ultrasound probes on the accuracy of electromagnetic tracking systems. Ultrasound Med Biol 32(9):1359\u20131368","journal-title":"Ultrasound Med Biol"},{"issue":"Suppl 1","key":"1534_CR32","first-page":"S107","volume":"9","author":"E Lugez","year":"2014","unstructured":"Lugez E, Pichora D, Akl S, Ellis R (2014) Intraoperative ct scanning impact on electromagnetic tracking performance. Int J CARS 9(Suppl 1):S107\u2013S108","journal-title":"Int J CARS"}],"container-title":["International Journal of Computer Assisted Radiology and Surgery"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-017-1534-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11548-017-1534-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-017-1534-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,6,25]],"date-time":"2017-06-25T06:53:13Z","timestamp":1498373593000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11548-017-1534-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,2,18]]},"references-count":32,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2017,4]]}},"alternative-id":["1534"],"URL":"https:\/\/doi.org\/10.1007\/s11548-017-1534-4","relation":{},"ISSN":["1861-6410","1861-6429"],"issn-type":[{"value":"1861-6410","type":"print"},{"value":"1861-6429","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,2,18]]}}}