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. Author manuscript; available in PMC: 2018 Apr 23.
Published in final edited form as: Rep U S. 2017 Dec 14;2017:1677–1684. doi: 10.1109/IROS.2017.8205979

TABLE V.

Needle Driver Rotation Accuracy Units: degrees

Target Points Target Location Rz μRz σRz
R1 −90 0.77 0.43
R2 −45 0.62 0.22
R3 0 0.48 0.15
R4 −45 0.16 0.09
R5 90 −0.19 0.19