Table 1 Maximum deviation of experimental mean from defined path and RMS of the error for interface experiments. The overall RMS error of these experiments is 1.2 mm.

From: Magnetic Needle Steering in Soft Phantom Tissue

Case

Transition Type

Desired AoA

Max. Deviation of the Mean from the Path

RMS of the error

1

Soft to Stiff

90 Degrees

0.8 mm

0.6 mm

2

Soft to Stiff

45 Degrees

2.3 mm

0.8 mm

3

Soft to Stiff

22.5 Degrees

0.5 mm

0.7 mm

4

Stiff to Soft

90 Degrees

0.8 mm

0.5 mm

5

Stiff to Soft

45 Degrees

0.8 mm

1.4 mm

6

Stiff to Soft

22.5 Degrees

1.0 mm

2.1 mm