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