Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot

Table 11

Precision and accuracy at different tubing.

	0.5 m	1 m	1.6 mm	Average value
Average error	0.564	0.568	0.548	0.560
Standard deviation	0.664	0.559	0.563	0.600
RMSE	0.743	0.612	0.582	0.643