Table 2.

Experimental results of the robotically actuated delivery sheath tip tracking for circular paths and aortic heart valve motions using the model-predictive control. The mean absolute distance error ($\epsilon$) and position errors (${\epsilon }_x$ and ${\epsilon }_y$) along the x- and y-axes are provided. Further, the standard deviation for $N_r$ repetitions is reported.

Case	$N_r$	${\epsilon }_x$ [mm]	${\epsilon }_y$ [mm]	$\epsilon$ [mm]
		Circle	12	0.73±0.03	0.50±0.10	0.89±0.08
Constrained circle	12	0.74±0.11	0.61±0.17	0.97±0.17
Aortic heart valve	30	1.06±0.43	1.29±0.38	1.68±0.53