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

Table 5

Precision and accuracy of different movement distances.

	40 mm	80 mm	200 mm	Average value
Average error	0.564	0.534	0.553	0.550
Standard deviation	0.664	0.642	0.604	0.653
RMSE	0.743	0.639	0.603	0.658