Table 2. Experimental percutaneous lung biopsy results.

Location	Nodule	Method	First needle tip to lesion distance (mm)	Planning time (min)	Operation time (min)	Success with a single puncture	Number of adjustments	Number of CT scans	Biopsy result	Angle deviation (°)
Pig 1 (m)
RL	1	R	0	3	5	P	0	3	P	2.5
	2	M	9.0	5	19	N	4	7	P	18.9
	3	M	1.1	2	3	P	0	3	P	4.0
LL	4	R	3.0	5	8	P	0	3	P	6.7
	5	R	5.5	6	6	P	0	3	P	10.2
	6	M	4.1	13	17	N	1	4	P	7.7
Pig 2 (f)
RL	1	R	1.5	3	6	P	0	3	P	0.6
	2	R	0.4	6	5	P	0	3	P	3.8
	3	M	12.0	8	27	N	4	7	P	11.1
LL	4	R	0.4	5	7	P	0	3	P	0.5
	5	M	2.0	6	27	N	2	5	P	9.5
	6	M	4.0	10	7	P	0	3	P	6.4
Pig 3 (f)
RL	1	R	2.5	4	15	N	1	4	N	15.0
	2	R	1.0	2	3	P	0	3	P	3.0
	3	M	2.9	7	16	N	2	5	P	15.0
LL	4	R	2.5	2	15	N	1	4	P	16.0
	5	M	4.5	8	12	P	0	3	N	12.0
	6	M	4.1	5	9	N	1	4	P	9.0
Pig 4 (f)
RL	1	M	5.1	4	5	P	0	3	P	5.0
	2	M	4.9	4	5	P	0	3	P	5.0
	3	M	4.0	17	21	N	2	5	P	21.0
LL	4	R	0	3	6	P	0	3	P	6.0
	5	R	1.1	4	4	P	0	3	P	4.0
	6	R	0	3	5	P	0	3	P	5.0
Pig 5 (f)
RL	1	R	5.4	9	12	P	0	3	P	12.0
	2	R	2.0	4	5	P	0	3	P	5.0
	3	R	1.5	2	4	P	0	3	P	4.0
LL	4	M	2.9	7	8	P	0	3	P	8.0
	5	M	0.9	5	6	P	0	3	P	6.0
	6	M	3.9	9	12	P	0	3	P	12.0

CT, computed tomography; m, male; RL, right lung; R, optical navigation puncture robotic system; P, positive; M, conventional CT-guided manual method; N, negative; LL, left lung; f, female.