. Author manuscript; available in PMC: 2010 Feb 22.

Published in final edited form as: IEEE Trans Robot. 2009;25(5):1109–1124. doi: 10.1109/tro.2009.2027375

TABLE I. Performance Data From Navigation Study in Porcine Model.

Trial No.	Anatomical Location	No. Steps	Path Length (mm)	Path Width (mm)	Duration (s)	Speed (mm/min)	Efficiency (%)
1	Anterior Midline	6	52	2	68	46	59
2	Left Lateral	14	50	7	207	15	28
3	Left Posterior	4	28	7	56	30	55
4	Posterior Midline	5	29	2	55	32	43
5	Right Posterior	10	29	0	95	18	20
6	Right Lateral	11	36	1	144	15	29
7	Right Anterior	6	39	3	54	44	49

Mean ± Std		8 ± 4	38 ± 10	3 ± 3	97 ± 58	29 ± 13	40 ± 15