Table 5 Results of robot assisted needle insertion experiment on kidney
PATHs | 1 | 2 | 3 | 4 | 5 | 6 | Mean | Std. Dev. |
|---|---|---|---|---|---|---|---|---|
Position error of alignment (mm) | 0.14 | 0.29 | 0.14 | 0.30 | 0.23 | 0.32 | 0.24 | 0.08 |
Direction error of alignment (E-4 rad) | 4.88 | 6.08 | 6.28 | 6.00 | 8.01 | 9.44 | 6.78 | 1.65 |
Position error of insertion (mm) | 2.35 | 2.10 | 2.34 | 2.10 | 1.89 | 2.11 | 2.15 | 0.17 |
Operation time(s) | 84 | 79 | 81 | 77 | 75 | 80 | 79.33 | 3.14 |