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. Author manuscript; available in PMC: 2015 May 12.
Published in final edited form as: IEEE Trans Biomed Eng. 2015 Apr;62(4):1077–1088. doi: 10.1109/TBME.2014.2367233

TABLE IV.

Analysis of OTS and Image-Guided Accuracy Studies

Tip Position (mm) Distance from Needle Axes(mm) Insertion Angle (Degree)
Optical Tracker Maximum Error 1.56 0.44 3.07
Minimum Error 0.48 0.22 0.90
RMS Error 1.09 0.33 2.06
Standard Deviation 0.28 0.05 0.76
MRI-Guided Maximum Error 2.13 0.59 2.79
Minimum 0.51 0.47 0.85
RMS Error 1.38 0.54 2.03
Standard Deviation 0.45 0.05 0.58