Skip to main content
. Author manuscript; available in PMC: 2016 Apr 26.
Published in final edited form as: IEEE SICE RSJ Int Conf Multisens Fusion Integr Intell Syst. 2015 Sep;2015:322–327. doi: 10.1109/MFI.2015.7295828

Figure 7.

Figure 7

Deviation from the puncture point vs. the hold time. The solid bars show the mean distance from the puncture point, and the error bars represent the maximum value. A longer hold time causes the needle to move away from the puncture point more. The active position holding significantly helps in keeping the needle tip proximal to the puncture point.