Fig 5. Graphs for position and rotation accuracy.

(A-I) Scatter graphs showing the error for position accuracy (in mm), normalized by kidney height, during the Plateau phase. Each dot represents one of the 30 tissue block placements. The blue cross at the origin of each scatter graph shows the location of the target block. The blue dot shows the average of all centroids (bias). (J-L) Line graphs with rotation accuracy for each axis (x, y, z).