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. Author manuscript; available in PMC: 2017 Jun 1.
Published in final edited form as: Int J Med Robot. 2015 Jun 26;12(2):199–213. doi: 10.1002/rcs.1671

Table I.

Accuracy and Repeatability Test – 13 Targets with 12 Relative Distances (Ti - Home) – 8 and 25 Sessions – all measurements are in mm.

Tj-Home AVE(X,Y)measured (X,Y)commanded (|ΔX|,|ΔY|) STDEV (X\Y)
T2-H(8) (24.76, 0.02) (25, 0) (0.24, 0.02) (0.09, 0.18)
T3-H (8) (24.77, -24,72) (25, -25) (0.23, 0.28) (0.09, 0.21)
T4-H (8) (-0.09, -24,97) (0, -25) (0.09, 0.03) (0.28, 0.12)
T5-H (8) (-25.22,-25.06) (-25, -25) (0.22, 0.06) (0.01, 0.15)
T6-H (8) (-25.14,-0.09) (-25, 0) (0.14, 0.09) (0.03, 0.16)
T7-H (8) (-24.38, 24.82) (-25, 25) (0.62, 0.18) (0.25, 0.04)
T8-H (8) (0.68, 24.78) (0, 25) (0.68, 0.22) (0.17, 0.13)
T9-H (8) (25.73, 24.84) (25, 25) (0.73, 0.16) (0.02, 0.12)
T10-H (25) (20.47, 24.81) (20, 25) (0.47, 0.19) (0.05, 0.14)
T11-H (25) (14.73, -19.69) (15, -20) (0.27, 0.31) (0.01, 0.16)
T12-H (25) (-5.26, -4-94) (-5, -5) (0.26, 0.06) (0.02, 0.07)
T13-H (25) (-9.93, 14.83) (-10, 15) (0.07, 0.17) (0.03, 0.08)