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. Author manuscript; available in PMC: 2018 Jun 1.
Published in final edited form as: IEEE Robot Autom Lett. 2017 Feb 14;2(3):1367–1374. doi: 10.1109/LRA.2017.2668467

Fig. 9.

Fig. 9

Comparison of current results with the state-of-the-art needle steering systems. The bar height reports the minimum average radius of curvature and the standard deviation (when available). Current work results (red-border bars) report the mean value and standard deviation considering the total number of trials of the ex vivo tests (5 insertions at the maximum articulation for 4 livers). The p-value from the one-sided t-test to determine whether the measured radii of curvatures were significantly lower than 50 mm was found to be less than 0.0001 (p < 0.0001).