A needle deflection model with operating condition optimization for corrective force-based needle guidance during transrectal prostate brachytherapy.

Calculated needle deflection values were then compared with the measured position of the needle insertion point, producing an average error of 0.39 ± 0.28 mm. Deflection was as low as 0.8 mm using optimal puncture parameters CONCLUSIONS: A needle-tissue interaction model, considering tissue nonlinearity, which experimental results demonstrated to be highly accurate. Optimal puncture parameters effectively improved puncture accuracy.