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

Table 1

Results of a paired 𝑡-test performed on estimated and measured data.

Model	Tissue 1			Tissue 2
	10a	15	Man	10	15	Man
Ablb 60c	𝑟^d	𝑟	𝑟	𝑟	𝑟	𝑟
Our 60	𝑟	𝑟	𝑟	𝑟	𝑟	𝑟
Abl 120	𝑟	𝑟	𝑟	𝑟	𝑟	𝑟
Our 120	𝑟	𝑟	𝑟	𝑟	𝑟	𝑟

aInsertion speed in mm/s or “man” for manual.
bModel identifier, “Abl” for Abolhassani.
cInsertion depth in mm.
d“𝑟" if null hypothesis is not rejected.