Code underlying the publication: Multibody dynamic modelling and simulation of flexible instruments used in brachytherapy

This repository contains the relevant files for performing simulations of the behaviour of flexible instruments in curved channels using MATLAB and the computer program SPACAR. One application, that of simulating brachytherapy (BT) source cable behaviour and needle insertion in the curved applicator channels, is described in the article 'Multibody dynamic modelling of the behaviour of flexible instruments used in cervical cancer brachytherapy'. For these computer models, BT instruments were discretised in finite elements. Simulations were performed in the full version of SPACAR by formulating nodal contact force and motion input models, and defining kinematic and dynamic modules. Example files for performing rigid and flexible multibody simulation of a needle in an S-shaped channel are included in this repository. These files may be modified to simulate deformations and associated forces and moments of any type of slender elastic rod inside a rigid (circular) channel or environment.

The code in this repository is a simplification of the code used in:

Title: Multibody dynamic modelling of the behaviour of flexible instruments used in cervical cancer brachytherapy.Authors: Robin Straathof, Jaap P. Meijaard, Sharline van Vliet-Pérez, Inger-Karine K. Kolkman-Deurloo, Remi A. Nout, Ben J.M. Heijmen, Linda S.G.L. Wauben, Jenny Dankelman, and Nick J. van de Berg.Journal: Medical PhysicsDOI: FIXMECite repository: FIXME (4TU.Researchdata)License: see license file in repository.