Research Article

The Design of Compact Robotic-Assisted Needle Position System with MPC-Based Remote Control

Table 1

Error variance () under different TD.

Y1-MPC-250Y1-MPC-150Y1-MPC-50Y1-MPC-0Y1-pid-250Y1-pid-150Y1-pid-50Y1-PID-0Y1-reality-0

0.66250.40480.15120.07281.67300.70670.61780.68600.1077