Dr. Thomas Lehmann

Postdoctoral Fellow

Mechanical Engineering Building
North Campus
University of Alberta
Edmonton, AB
T6G 2G8

E-Mail: lehmann@ualberta.ca

External Links: LinkedIn

Biography

Thomas Lehmann received his B.Sc. degree in Medical Engineering in 2011 and his MSc degree in Biomedical Engineering in 2013, from Furtwangen University, Schwenningen, Germany. He received his Ph.D. in Biomedical Engineering in 2018 from the University of Alberta, Edmonton, Canada.

Research Focus

During Thomas’ Ph.D. studies, his research was focused on robotics-assisted needle insertion, in particular needle deflection sensing and control, and needle instrumentation. His research interests in general include robotics and mechatronic systems with various applications in medicine and industry, measurement, instrumentation, as well as sensing and estimation technologies. His current research is concerned with robotized metal additive manufacturing based on wire-arc and direct energy deposition technologies where a robotic articulated arm is used to facilitate large-scale multi-directional and support-free material deposition.

Publications

Journals

T. Lehmann, R. Sloboda, N. Usmani and M. Tavakoli, “Model-Based Needle Steering in Soft Tissue via Lateral Needle Actuation,” in IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3930-3936, Oct. 2018. Also, selected for presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 2018. 

T. Lehmann, R. Sloboda, N. Usmani, and M. Tavakoli, “Human-machine collaboration modalities for semi-automated needle insertion into soft tissue,” IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 477–483, 2018. 

T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli, “Intraoperative Tissue Young’s Modulus Identification During Needle Insertion Using a Laterally Actuated Needle,” IEEE Transactions on Instrumentation and Measurement, vol. 67, no. 2, pp. 371–381, 2018. 

T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli, “Deflection modeling for a needle actuated by lateral force and axial rotation during insertion in soft phantom tissue,” Mechatronics, vol. 48, pp. 42–53, 2017. 

T. Lehmann, C. Rossa, N. Usmani, R. Sloboda and M. Tavakoli. “A real-time estimator for needle deflection during insertion into soft tissue based on adaptive modeling of needle-tissue interactions”. IEEE/ASME Transactions on Mechatronics, vol. 21, issue 6, pp. 2601–2612, 2016. 

C. Rossa, T. Lehmann, R. Sloboda, N. Usmani and M. Tavakoli. “A data-driven soft sensor for needle deflection in heterogeneous tissue using just-in-time modelling”. Medical & Biological Engineering & Computing, pp. 1–14, 2016. 

T. Lehmann, M. Tavakoli, N. Usmani and R. Sloboda. “Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy”. Journal of Sensors, vol. 2013, 2013. 

J. Kretschmer, B. Laufer, T. Lehmann, P. Stehle, D. Redmond, and K. Möller. “Ein softwarebasierter Patientensimulator zur Evaluierung medizinischer Entscheidungssysteme (A software-based patient simulator to evaluate medical decision support systems)”. at – Automatisierungstechnik, vol. 64, issue 11, pp. 878–893, 2016. 

Conferences (peer-reviewed)

T. Lehmann, C. Rossa, N. Usmani, R. Sloboda and M. Tavakoli. “Needle path control during insertion in soft tissue using a force-sensor-based deflection estimator.” Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, July 12–15, 2016, pp. 1174–1179. 

T. Lehmann, C. Rossa, N. Usmani, R. Sloboda and M. Tavakoli. “A virtual sensor for needle deflection estimation during soft-tissue needle insertion”. Proceedings of the 2015 IEEE International Conference on Robotics and Automation, Seattle, USA, 2015, pp. 1217–1222. 

J. Kretschmer, T. Lehmann, D. Redmond, P. Stehle and K. Möller, “A Modular Patient Simulator for Evaluation of Decision Support Algorithms in Mechanically Ventilated Patients”, XIV Mediterranean Conference on Medical and Biological Engineering and Computing 2016 (MEDICON 2016), 2016.

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