FIGURE 3.

(a) Sequence of snapshots with their corresponding time in second and iteration number during the constraint-free manipulation experiment with single insertion point. The green and red points represent the target point on the tissue and the desired probe insertion locations in the workspace, respectively; (b) the feature point (target location) trajectory in the image plane; (c) the robots end effectors trajectories in the robot’s frame; (d) the Euclidean distance error between the target location and the desired needle insertion location; (e) the manipulability ellipses along the target location trajectory in the image plane; (f) the areas of the manipulability ellipses in each iteration, and (g) the Yoshikawa’s manipulability measure in each iteration. Shaded regions represent the learning and identification (red) as well as the converging (blue) phases, respectively.