Fig 6. Contribution of five working steps (planning, adjustment, navigation, sampling and control) to the mean experimental biopsy time for each operator group (AR, RR, MS).

The times stated are averages of 80 individual measurements from 8 operators on 10 targets each. Navigation times ranged between 01:16 (AR) and 01:48 (MS) and differences between operator groups were significant (ANOVA p < 0.01, **). Sampling times ranged between 00:20 (AR) and 00:24 (MS) and between-group differences were significant (p < 0.05, *). All other working step times were not significantly different (see text for details).