Ultrasound Calibration for Dual-Armed Surgical Navigation System

Figure 9

The experimental analysis of the RFA insertion with two abdominal phantoms (CIRS-057A and CIRS-071B). (a) The distance of positioning errors of RFA needle insertion between the planning path and the RFA needle. (b) The orientation error of RFA insertion between the planning path and the RFA needle. (c) The calculated trend of the positioning error based on the orientation error with insertion depth.

(a)

(b)

(c)