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.005a" src="https://static.hindawi.com/articles/js/volume-2013/263153/figures/263153.fig.005a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>The free body diagram of the bending moments acting at a cut at point B. <svg height="15.35" id="M77" style="vertical-align:-3.3525pt" version="1.1" viewbox="0 0 18.987499 15.35" width="18.987499" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M599 650l-18 -160l-30 -2q-2 70 -11 94q-5 16 -26 24t-75 8h-94q-27 0 -33.5 -6.5t-12.5 -32.5l-43 -226h108q52 0 72.5 5t31 18t28.5 52h28l-40 -200h-28q-1 42 -6 56.5t-24.5 21t-70.5 6.5h-108l-32 -177q-13 -65 1 -80.5t88 -22.5l-8 -28h-279l6 28q61 5 77.5 20.5
t29.5 81.5l72 387l7.5 40.5t1 26.5t-4 18t-15.5 10t-24 6t-37 4l8 28h461z" id="x1D439"></path></g>
<g transform="matrix(.012,-0,0,-.012,10.637,15.187)"><path d="M627 18l-10 -26q-79 6 -116 27t-69 76q-41 71 -71 138q-13 29 -27.5 39t-42.5 10h-46l-27 -145q-13 -74 -2.5 -88.5t78.5 -20.5l-6 -28h-271l5 28q66 6 82.5 21.5t30.5 87.5l71 387q12 66 2 78.5t-77 19.5l8 28h233q102 0 147 -29q65 -43 65 -129q0 -69 -45.5 -117
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</svg> and <svg height="15.35" id="M78" style="vertical-align:-3.3525pt" version="1.1" viewbox="0 0 25.762501 15.35" width="25.762501" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M998 650l-8 -28q-71 -4 -86 -16t-22 -69l-50 -397q-3 -28 -4.5 -44t2 -29t6.5 -18.5t17 -10.5t24.5 -6.5t37.5 -3.5l-8 -28h-271l7 28q63 6 78 22t25 90l60 415h-2l-353 -552h-23l-130 536h-2l-70 -254q-44 -158 -47 -188q-5 -38 9 -51t71 -18l-6 -28h-241l8 28
q45 4 67 18.5t35 45.5q16 38 74 233l52 173q24 79 11.5 98t-89.5 26l6 28h177l136 -508l337 508h172z" id="x1D440"></path></g>
<g transform="matrix(.012,-0,0,-.012,17.412,15.187)"><path d="M627 18l-10 -26q-79 6 -116 27t-69 76q-41 71 -71 138q-13 29 -27.5 39t-42.5 10h-46l-27 -145q-13 -74 -2.5 -88.5t78.5 -20.5l-6 -28h-271l5 28q66 6 82.5 21.5t30.5 87.5l71 387q12 66 2 78.5t-77 19.5l8 28h233q102 0 147 -29q65 -43 65 -129q0 -69 -45.5 -117
t-115.5 -72q40 -86 66 -133q39 -68 65 -101q28 -37 73 -51zM491 483q0 67 -33.5 101t-91.5 34q-35 0 -51 -10q-13 -8 -20 -48l-45 -245h49q71 0 113 28q79 52 79 140z" id="x1D445"></path></g>
</svg> are the resistance force and moment of the clamping and are both measured by the attached sensor</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="263153.fig.005b" src="https://static.hindawi.com/articles/js/volume-2013/263153/figures/263153.fig.005b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>The free body diagram of the forces acting perpendicularly along the needle</td></tr></table></td></tr></table>

<table>Free body diagrams of the needle while inserting into tissue. </table>

Journal of Sensors

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Figure 5

Figure 5: Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy 