. Author manuscript; available in PMC: 2023 Jun 8.

Published in final edited form as: Int Symp Med Robot. 2023 May 25;2023:10.1109/ismr57123.2023.10130249. doi: 10.1109/ismr57123.2023.10130249

Table 1:

Comparison of error results for the single core/multicore needle

Curve	Needle	TE (mm)	RMSE (mm)	IPE (mm)	OPE (mm)
1	Single	0.77±0.08	0.34±0.03	0.26±0.03	0.26±0.03
1	Multi	1.15±0.47	0.51±0.21	0.38±0.16	0.38±0.16
2	Single	1.67±0.10	0.75±0.04	0.56±0.03	0.56±0.03
2	Multi	2.36±0.53	1.06±0.24	0.79±0.18	0.79±0.18
3	Single	1.69±0.02	0.76±0.01	0.56±0.01	0.56±0.01
3	Multi	2.97±0.45	1.33±0.20	0.99±0.15	0.99±0.15
4	Single	1.88±0.05	0.84±0.02	0.63±0.02	0.63±0.02
4	Multi	2.51±0.23	1.13±0.10	0.84±0.08	0.83±0.08
5	Single	0.13±0.12	0.06±0.05	0.04±0.04	0.04±0.04
5	Multi	1.42±0.13	0.64±0.06	0.47±0.04	0.46±0.04
Total	Single	1.23±0.69	0.55±0.31	0.41±0.23	0.41±0.23
Total	Multi	2.08±0.79	0.93±0.35	0.70±0.26	0.69±0.26