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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 V.

Steerability Comparison Test Result

Needle Tip deviation Tip angle
Passive 30° bevel tip needle 8.3±0.55 mm 5.1±1.48°
Active needle with a symmetric tip 7.2±0.96 mm 6.5±1.23°