. Author manuscript; available in PMC: 2011 Jun 16.

Published in final edited form as: Int J Med Robot. 2005 Jan;1(2):86–100. doi: 10.1002/rcs.19

Table 3.

Multi-imager compatibility checklist

Criteria	Test		Desired	Achieved	Passed/Failed
Lab Test	Motion Accuracy		< 0.1 °	0.024°	Passed
	Size		Volume < 0.35 L	0.09 L	Passed
	Magnetism (GE Magnet Test (20))		Lifting force < 125 N	0.0 N	Passed
	Safe to test with ultrasound imager				Passed
Clinical Engineering	Safe to test in X-ray Fluoroscopy Imagers		Clinical Engineering Sticker		Passed
	Safe to test in CT Scanners				Passed
	Safe to test in MRI Scanners				Passed
	Ultrasound	Passive	E_P < 2%	0.145800%	Passed
	Ultrasound	Active	E_A < 1%	0.148240%	Passed
	X-ray	Passive	E_P < 2%	0.022400%	Passed
	X-ray	Active	E_A < 1%	0.088200%	Passed
Image Distortion Tests	CT Scanner	Passive	E_P < 2%	0.001500%	Passed
	CT Scanner	Active	E_A < 1%	0.000032%	Passed
	MRI	Passive	E_P < 2%	0.000188%	Passed
	MRI	Active	E_A < 1%	0.000187%	Passed
	Open MRI	Passive	E_P < 2%	0.083000%	Passed
	Open MRI	Active	E_A < 1%	0.072000%	Passed
			Multi-Imager Compatibility		Passed