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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 VI.

Needle Driver Insertion Accuracy Units: mm

Target Points Target Location Pi μPi σPi

I1 0 0.01 0.05
I2 8.5 −0.03 0.02
I3 17 −0.03 0.03
I4 25.5 −0.03 0.03
I5 34 −0.06 0.02