Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy
Figure 9
Measured and estimated tip deflection with tissue 1 in (a), (b), and (c) and tissue 2 in (d), (e), and (f). The insertion velocities were for (a) and (d) 10 mm/s automatic, for (b) and (e) 15 mm/s automatic, and for (c) and (f) manual with alternating velocities. The error bars show the standard deviation ().