Figure 9:

Targeting errors on the RA-plane (right-left/anterior-posterior) and their 95% confidence ellipsoid. The image on the left shows the targeting error before the bias correction of the straight insertions (blue), angulated insertion (yellow), and using the path selection strategy (green). The image on the right shows the same errors after the bias correction. It is possible to observe that the 95% ellipsoid area using the path selection strategy is significantly smaller than using the standard straight only approach both before and after the bias correction. The bias observed in this study was directly related to the setup in the animal experiments, and therefore the correction will not be necessary for the future clinical trials.