Research Article
An Ultrasound Imaging-Guided Robotic HIFU Ablation Experimental System and Accuracy Evaluations
Table 3
The distance error of HIFU thermal ablation (unit: mm).
| Number of points | Position of the target (mm) | Position of the ablation (mm) | Distance error | x | y | z | x | y | z |
| 1 | −71.6 | 248.6 | 79.7 | −71.4 | 248.2 | 80.0 | 0.53 | 2 | −70.6 | 289.2 | 81.2 | −72.6 | 288.6 | 81.1 | 2.09 | 3 | −112.0 | 248.4 | 79.63 | −111.0 | 248.1 | 79.7 | 1.05 | 4 | −109.0 | 289.5 | 81.24 | −108.0 | 288.7 | 80.3 | 1.59 |
|
|