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. Author manuscript; available in PMC: 2013 Sep 13.
Published in final edited form as: Int J Med Robot. 2012 Jun 8;9(3):305–316. doi: 10.1002/rcs.1440

Table 3.

Needle artifact shift study results

Targets Glass needle
Titanium needle
ErR ErA ErTot ErR ErA ErTot
#1 −0.10 −1.33 1.33 0.30 −0.13 0.32
#2 −0.74 0.20 0.76 −0.24 0.50 0.55
#4 −2.50 −1.50 2.91 −1.80 −1.40 2.28
#5 −0.70 −0.30 0.76 0.20 −0.30 0.36
#6 1.16 0.90 1.46 1.76 1.50 2.36
#7 −0.06 −0.85 0.85 −0.40 −0.35 0.53
#8 −0.40 1.40 1.40 −0.10 1.20 1.20
#9 −1.30 0.60 1.43 −1.30 0.00 1.30
Avg −0.46 −0.14 1.29 −0.08 0.09 1.09
STD 1.05 1.00 0.70 1.07 0.87 0.76