. Author manuscript; available in PMC: 2018 Feb 1.

Published in final edited form as: IEEE Trans Ind Electron. 2016 Apr 21;64(2):1626–1635. doi: 10.1109/TIE.2016.2557306

TABLE II.

Needle tip positioning errors (n = 3 trials)—Units in mm.

	dx	dy	dz	3D
Mean – estimated vs. known position	0.05	0.08	0.07	0.13
Mean – needle tip vs. known position	0.09	0.15	0.08	0.22
Repeatability – needle tip positioning	0.05	0.04	0.07	0.05
Repeatability – needle tip extraction	0.02	0.03	0.03	0.03