Skip to main content
. Author manuscript; available in PMC: 2010 Jul 17.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2008 Oct 19;2008:936–941. doi: 10.1109/BIOROB.2008.4762825

Fig. 6.

Fig. 6

Results from my algorithm performed on a phantom tissue, without compensating for elastic deformation of the tissue. We decreased the tip lag by 54%. The error bars represent the standard deviation over 5 trials. (Half bars used to prevent overlap and increase clarity.)