. Author manuscript; available in PMC: 2019 Aug 27.

Published in final edited form as: IEEE Trans Biomed Eng. 2016 Oct 3;64(7):1608–1618. doi: 10.1109/TBME.2016.2612229

TABLE I.

Comparison of commercial and research systems with the proposed robotic system (*).

	Purpose of Use		US Probe		Target Area			US Probe Control			Patient Setup Validation
	Patient Setup	Treatment Monitoring	3D	2D	Lower Abdomen	Upper Abdomen	Tissue Deformation Repeatability	Manual	Fixed Arm	Robotic System	US – US Registration	US – CT Registration
BATCAM	X			X	X	X		X			X
SonArray	X		X		X	X		X				X
Clarity	X	X	X		X				X		X
Stanford-1	*N/A*	X		X	X		*N/A*			X	*N\A*	*N\A*
Stanford-2	*N/A*	X	X		X	X	*N/A*			X	*N\A*	*N\A*
Lubeck	*N/A*	X	X			X	*N/A*			X	*N\A*	*N\A*
*JHU ()**	X	X	X		X	X	X			X	X