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Table 4 Error magnitudes of optical tracker feedback control

From: An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access

Set name Uncorrected translational error (mm) Uncorrected rotational error (rad) Corrected translational error (mm) Corrected rotational error (E-4 rad) Iteration times
No. 1 67.078 0.08 0.25 5.98 6
No. 2 123.18 0.15 0.10 4.60 7
No. 3 175.65 0.21 0.16 8.78 9
No. 4 223.32 0.27 0.35 6.20 10
No. 5 263.04 0.31 0.26 3.75 15
No. 6 299.30 0.35 0.26 2.06 20
No. 7 334.79 0.39 0.29 4.42 30
No. 8 357.12 0.43 0.30 5.16 39
No. 9 380.93 0.43 0.55 7.72 50