Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy
Figure 5
Free body diagrams of the needle while inserting into tissue.
(a) The free body diagram of the bending moments acting at a cut at point B. and are the resistance force and moment of the clamping and are both measured by the attached sensor
(b) The free body diagram of the forces acting perpendicularly along the needle