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. Author manuscript; available in PMC: 2021 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2019 Oct 29;36(1):222–239. doi: 10.1109/tro.2019.2946726

TABLE II.

Effects of the EIU Imaging Frequency on the MTPE

MTPE in X coord. (mm) MTPE in Y coord. (mm) MTPE (mm)
SCADE (0.5Hz) 0.007 ± 0.035 0.001 ± 0.004 0.001 ± 0.001
SCADE (0.125Hz) 0.160 ± 0.216 0.047 ± 0.062 0.165 ± 0.203
SCADE (0.05Hz) 0.231 ± 0.251 0.078 ± 0.066 0.255 ± 0.247
FBG-based 0.953 ± 0.275 0.082 ± 0.075 0.961 ± 0.271

These results have been calculated for a bending motion in an obstructed environment with continuous displacement rate of 1 mm/s.