[algorithm] Refactor algorithm

[th-skam]

Initial rework/clean-up

After #36, it is time to clean the algorithm a bit. Some issues:

• Inconsistent descriptions, non-transparent naming choices.
• Unnecessary copies - use refs when possible.
• Avoid raw ptrs if possible.
• Sanity/safety checks in init and doDetection are missing.

Addressed in #47 to #53.

Use of Operation classes in InsertionAlgorithm

• Use operations for geometric checks to include proximities instead of explicit dynamic casts at the top-level algorithm
• Use operations to decide based on geometric criteria whether the needle is retracting or not

[th-skam]

Closed through #47 to #53 .