Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="263153.fig.008a" src="https://static.hindawi.com/articles/js/volume-2013/263153/figures/263153.fig.008a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Forces and moments acting at the needle base  </td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="263153.fig.008b" src="https://static.hindawi.com/articles/js/volume-2013/263153/figures/263153.fig.008b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Measured (unfiltered) and estimated needle tip deflection </td></tr></table></td></tr></table>

<table>Sample plots for forces and moments at the needle base and tip deflection during insertion into tissue 1 with a velocity of 10 mm/s.</table>

Journal of Sensors

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Figure 8

Figure 8: Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy 