Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

Table 1 Puncture parameters and Euclidian error for different targets

	SD target	MD target	LD target
Puncture depth in mm	49.5 ± 0.9	102.5 ± 2.0	148.1 ± 2.1
Puncture angle as degree	87.6 ± 2.1	51.4 ± 3.2	32 ± 2.8
Euclidian error in mm	1.7 ± 0.9	2.4 ± 1.0	4.4 ± 1.4ab

^aP < 0.05 vs SD target.

^bP < 0.05 vs MD target; SD: Short distance; MD: Moderate distance; LD: Long distance.