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. Author manuscript; available in PMC: 2015 Oct 26.
Published in final edited form as: IEEE Trans Robot. 2015 Feb;31(1):1–11. doi: 10.1109/TRO.2014.2367351

TABLE I.

Targeting Errors During Needle Insertion [4]

Factor Target error for 120 mm insertion
Needle deflection 6.5±3.5 mm
Imaging artifact of needle 1.6±0.4 mm
Template misalignment 1.5±0.3 mm