Design and Experiment of Assistive Mechanism for Adjustment of Transrectal Ultrasound Probe

Table 3

Analysis result of azimuth angle of remote center point error.

Probe feed distance/mm	direction				direction				and directional random error relative parameter
	(mm)	(%)	RSD (%)	Confidence interval	(mm)	(%)	RSD (%)	Confidence interval
0	8.30	7.78	14.40	(7.15, 9.44)	13.26	10.50	7.50	[12.30, 14.21]	0.342
30	8.40	6.67	12.80	(7.36, 9.43)	11.86	1.16	14.41	(11.22, 13.49)	0.758
60	9.54	6.00	12.50	(8.38, 10.69)	12.30	2.50	10.50	(11.05, 13.54)	0.840