Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System

Table 4

Results of the phantom experiment (unit: sec).

No.	Manual operation		Robotic operation
	Average		Average
1	178.4		156.8
2	170.6		140.7
3	155.2		120.6
4	147.2		89.9
5	139.6		82.7
6	131.4		78.7