A mechanics-based model for simulation and control of flexible needle insertion in soft tissue

AbstractIn needle-based medical procedures, beveled-tip exible needles are steered inside soft tissue with the aim of reaching pre-dened target locations. The efciency of needle-based interventions depends on accurate control of the needle tip. This paper presents a comprehensive mechanics-based model for simulation of planar needle insertion in soft tissue. The proposed model for needle deection is based on beam theory, works in real-time, and accepts the insertion velocity as an input that can later be used as a control command for needle steering. The model takes into account the effects of tissue deformation, needle-tissue friction, tissue cutting force, and needle bevel angle on needle deection. Using a robot that inserts a exible needle into a phantom tissue, various experiments are conducted to separately identify different subsets of the model parameters. The validity of the proposed model is veried by comparing the simulation results to the empirical data. The results demonstrate the accuracy of the proposed model in predicting the needle tip deection for different insertion velocities. I

Children's understanding of the war in Iraq : views from Britain and Bosnia

Sixty-one children (aged 9-17) from the United Kingdom (31) and Bosnia (30) were interviewed about the war in Iraq. Significant differences emerged in their views of the war. The Bosnian children were more affected by the Iraq War, more aware of who is involved in it, had different views about its causes, viewed the consequences of the war with greater gravity, and expressed a greater desire to end war and have peace. Two factors which might account for these differences - recent Bosnian history and the nature of media representations of the war in the two countries - are discussed

LEVELS OF PROCESSING IN CONDUCTION APHASIA.

In order to facilitate a smooth transition for brachytherapy dose calculations from the American Association of Physicists in Medicine (AAPM) Task Group No. 43 (TG-43) formalism to model-based dose calculation algorithms (MBDCAs), treatment planning systems (TPSs) using a MBDCA require a set of well-defined test case plans characterized by Monte Carlo (MC) methods. This also permits direct dose comparison to TG-43 reference data. Such test case plans should be made available for use in the software commissioning process performed by clinical end users. Tothis end, a hypothetical, generic high-dose rate (HDR) 192Ir source and a virtual water phantom were designed, which can be imported into a TPS. Methods: A hypothetical, generic HDR 192Ir source was designed based on commercially available sources as well as a virtual, cubic water phantom that can be imported into any TPS in DICOM format. The dose distribution of the generic 192Ir source when placed at the center of the cubic phantom, and away from the center under altered scatter conditions, was evaluated using two commercial MBDCAs [Oncentra Brachy with advanced collapsed-cone engine () and BrachyVision ]. Dose comparisons were performed using state-of-the-art MC codes for radiation transport, including , BrachyDose, GEANT4,MCNP5, MCNP6, and PENELOPE2008. The methodologies adhered to recommendations in the AAPM TG-229 report on high-energy brachytherapy source dosimetry. TG-43 dosimetry parameters, an along-away dose-rate table, and primary and scatter separated (PSS) data were obtained. The virtual water phantom of (201)3 voxels (1 mm sides) was used to evaluate the calculated dose distributions. Two test case plans involving a single position of the generic HDR 192Ir source in this phantom were prepared: (i) source centered in the phantom and (ii) source displaced 7 cm laterally from the center

A generic TG-186 shielded applicator for commissioning model-based dose calculation algorithms for high-dose-rate Ir-192 brachytherapy

PURPOSE: A joint working group was created by the American Association of Physicists in Medicine (AAPM), the European Society for Radiotherapy and Oncology (ESTRO), and the Australasian Brachytherapy Group (ABG) with the charge, among others, to develop a set of well-defined test case plans and perform calculations and comparisons with model-based dose calculation algorithms (MBDCAs). Its main goal is to facilitate a smooth transition from the AAPM Task Group No. 43 (TG-43) dose calculation formalism, widely being used in clinical practice for brachytherapy, to the one proposed by Task Group No. 186 (TG-186) for MBDCAs. To do so, in this work a hypothetical, generic high-dose rate (HDR) 192 Ir shielded applicator has been designed and benchmarked. METHODS: A generic HDR 192 Ir shielded applicator was designed based on three commercially available gynecological applicators as well as a virtual cubic water phantom that can be imported into any DICOM-RT compatible treatment planning system (TPS). The absorbed dose distribution around the applicator with the TG-186 192 Ir source located at one dwell position at its center was computed using two commercial TPSs incorporating MBDCAs (Oncentra® Brachy with Advanced Collapsed-cone Engine, ACE™, and BrachyVision ACUROS™) and state-of-the-art Monte Carlo (MC) codes, including ALGEBRA, BrachyDose, egs_brachy, Geant4, MCNP6, and Penelope2008. TPS-based volumetric dose distributions for the previously reported "source centered in water" and "source displaced" test cases, and the new "source centered in applicator" test case, were analyzed here using the MCNP6 dose distribution as a reference. Volumetric dose comparisons of TPS results against results for the other MC codes were also performed. Distributions of local and global dose difference ratios are reported. RESULTS: The local dose differences among MC codes are comparable to the statistical uncertainties of the reference datasets for the "source centered in water" and "source displaced" test cases and for the clinically relevant part of the unshielded volume in the "source centered in applicator" case. Larger local differences appear in the shielded volume or at large distances. Considering clinically relevant regions, global dose differences are smaller than the local ones. The most disadvantageous case for the MBDCAs is the one including the shielded applicator. In this case, ACUROS agrees with MC within [-4.2%, +4.2%] for the majority of voxels (95%) while presenting dose differences within [-0.12%, +0.12%] of the dose at a clinically relevant reference point. For ACE, 95% of the total volume presents differences with respect to MC in the range [-1.7%, +0.4%] of the dose at the reference point. CONCLUSIONS: The combination of the generic source and generic shielded applicator, together with the previously developed test cases and reference datasets (available in the Brachytherapy Source Registry), lay a solid foundation in supporting uniform commissioning procedures and direct comparisons among treatment planning systems for HDR 192 Ir brachytherapy