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

Figure 3

The distributed load 𝑞 acting along the inserted portion of the needle as a reaction force to the needle, as proposed by Kataoka et al. [3]. 𝐹_𝑅 is the resulting force at the needle base. The 2D diagram plane is the deflection plane of the needle. The dashed arrow represents the resulting force acting at the geometric center (centroid) of the area of the distributed load 𝑞.