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

Figure 4

(a) The triangularly distributed loads 𝑞₁ and 𝑞₂ acting along the needle while inserting into tissue. 𝐹_𝑅 is the resulting force at the needle base. 𝐹₁ and 𝐹₂— shown with dashed lines—are the resulting forces from the distributed loads 𝑞₁ and 𝑞₂. (b) The location of the centroid of a triangle.

(a)

(b)