TABLE III.

Summary of applied offsets, duration of procedure, and error of probe tip placement.

Variable		Category	Count	Mean ± SD	Range	p-values
Accuracy (mm)
	All		60	5.2 ± 2.6	14.0–7.0
		Freehand	30	6.3 ± 3.1	1.6–12.4
		Robotic	30	4.1 ± 3.1	0.5–12.8	0.008
	No organ motion
		Freehand	15	6.6 ± 3.1	4.9–8.3
		Robotic	15	2.1 ± 1.3	1.3–2.8	<0.001
	Organ motion
		Freehand	15	5.9 ± 3.2	4.1–7.7
		Robotic	15	6.0 ± 3.1	4.3–7.7	0.9
Total duration (min)
	All		60	16.2 ± 6.2	10–41
		Freehand	30	19.6 ± 7.0	12–41
		Robotic	30	12.7 ± 2.4	10–19	<0.001
	No organ motion
		Freehand	15	18.7 ± 5.2	15.9–21.6
		Robotic	15	11.9 ± 1.9	10.8–12.9	<0.001
	Organ motion
		Freehand	15	20.5 ± 8.5	15.8–25.3
		Robotic	15	14.0 ± 2.8	12.5–15.5	0.009