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Needle insertion is commonly used in procedures such as prostate brachytherapy or biopsy. In prostate brachytherapy, the success of the procedure depends on the accurate placement of needles in their pre-planned target location. In order to steer the needle towards a defined target, past research has used ultrasound-image-based needle localization for needle tip position feedback. Acquiring and processing...
A tissue-independent model to estimate needle deflection during insertion in soft tissue is presented in this paper. A force/torque sensor is connected to the needle base in order to measure forces and moments during insertion due to needle deflection. A static mechanical model, which is based on the Euler-Bernoulli beam equation and the balance of forces applied by the tissue onto the needle takes...
Gas distribution networks are complex structures that consist of passive pipes, and active, controllable elements such as valves and compressors. Controlling such network means to find a suitable setting for all active components such that a nominated amount of gas can be transmitted from entries to exits through the network, without violating physical or operational constraints. The control of a...
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