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 (𝑛=6).

(a)   Tissue 1 with velocity 10 mm/s

(b) Tissue 1 with velocity 15 mm/s

(c) Tissue 1 with manual insertion

(d) Tissue 2 with velocity 10 mm/s

(e) Tissue 2 with velocity 15 mm/s

(f) Tissue 2 with manual insertion