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.

Table 2 Comparison of operation parameters between two methods

	Robotic group	Free-hand group
Operation time in sec	389 ± 85	422 ± 166
Adjustment time	0 (0, 1)	2 (1, 2)a
One-time success rate	72.2% (13/18)	11.1% (2/18)

^aP < 0.05 vs short distance target.