Quantum Estimation Theory of Error and Disturbance in Quantum   Measurement
  We formulate the error and disturbance in quantum measurement by invoking quantum estimation theory. The disturbance formulated here characterizes the non-unitary state change caused by the measurement. We prove that the product of the error and disturbance is bounded from below by the commutator of the observables. We also find the attainable bound of the product. 
Yu Watanabe, Masahito Ueda
quant-ph