Research Article
An Ultrasound Imaging-Guided Robotic HIFU Ablation Experimental System and Accuracy Evaluations
Table 2
The distance error of the robotic arm (unit: mm).
| Number of point | Coordinates of the target point | Number of image | Coordinates of the guided pinpoint | Distance error | x | y | z | x | y | z |
| Case A: 3 cm | 1 | 26.7 | 8.9 | −46.5 | I | 27.0 | 8.2 | −46.6 | 0.78 | II | 27.4 | 8.1 | −46.5 | 1.06 | III | 26.5 | 8.4 | −46.7 | 0.57 |
| 2 | 6.2 | −5.4 | −45.2 | I | 6.1 | −5.3 | −44.9 | 0.33 | II | 6.3 | −5.2 | −44.6 | 0.64 | III | 5.3 | −4.6 | −45.1 | 1.20 |
| 3 | 1.8 | −19.1 | −61.5 | I | 1.9 | −19.3 | −62.1 | 0.64 | II | 1.9 | −19.6 | −62.1 | 0.78 | III | 1.7 | −19.5 | −61.8 | 0.50 |
| Max error: 1.20; average error: 0.72; standard deviation: 0.26 |
| Case B: 7 cm | 1 | 38.9 | 27.9 | −89.6 | I | 39.2 | 27.8 | −90.5 | 0.95 | II | 39.2 | 27.9 | −90.6 | 1.04 | III | 39.6 | 27.8 | −90.4 | 1.06 |
| 2 | 18.3 | 14.0 | −87.7 | I | 18.1 | 13.5 | −88.2 | 0.73 | II | 17.5 | 13.7 | −88.5 | 1.17 | III | 18.2 | 13.8 | −88.1 | 0.45 |
| 3 | 13.7 | −0.1 | −104.5 | I | 14.0 | −0.6 | −105.5 | 1.15 | II | 14.2 | −0.4 | −105.6 | 1.24 | III | 14.1 | −0.1 | −105.8 | 1.36 |
| Max error: 1.36; average error: 1.02; standard deviation: 0.26 |
| Case C: 12 cm | 1 | 54.1 | 46.8 | −136.3 | I | 55.4 | 46.6 | −136.1 | 1.33 | II | 53.5 | 47.4 | −137.6 | 1.55 | III | 53.9 | 47.2 | −137.4 | 1.19 |
| 2 | 33.2 | 32.9 | −134.6 | I | 34.5 | 32.7 | −134.2 | 1.37 | II | 32.6 | 33.4 | −135.3 | 1.05 | III | 32.8 | 33.6 | −135.3 | 1.07 |
| 3 | 28.9 | 19.0 | −151.6 | I | 29.8 | 19.4 | −151.3 | 1.03 | II | 28.0 | 20.1 | −152.1 | 1.51 | III | 28.0 | 19.3 | −153.0 | 1.69 |
| Max error: 1.69; average error: 1.31; standard deviation: 0.23 |
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