. Author manuscript; available in PMC: 2014 Dec 16.

Published in final edited form as: J Robot Surg. 2013 Sep;7(3):217–225. doi: 10.1007/s11701-013-0420-5

Table 1.

Summary of target localization error (Center, Edge, Projection, Depth) from 3 porcine tongue TORS experiments under various forms of image guidance. TLE (Edge) between P-1 and P-3 has p-value = 0.048 (red).

Phantom	Image Data	Overlay	TLE (Center) [mm]			TLE (Edge) [mm]			TLE (Projection) [mm]			TLE (Depth) [mm]			Hit Ratio
Phantom	Image Data	Overlay	Mean	STDDev	Max	Mean	STDDev	Max	Mean	STDDev	Max	Mean STDDev		Max	Hit Ratio
P-1	Preop	No	9.8	4.0	18.5	4.9	4.6	15.0	6.4	3.3	11.3	6.6	4.0	14.6	0/8
P-2	Intraop	No	8.9	2.9	15.4	3.9	3.3	9.9	6.2	1.7	8.7	5.5	4.1	14.5	0/8
P-3	Intraop	Yes	6.7	2.8	9.8	1.7	1.8	4.1	3.3	2.0	6.0	5.3	3.3	9.3	2/8