Experimental results: The results of the experimental Case II and Case III are presented.

The target location, and error for each case are indicated. The error is calculated as the absolute distance between the tip of the needle and the center of the target. The mean and standard deviation of the error for each experimental scenario are presented separately. Radius of curvature (R) is calculated for the first 25mm of insertion. The angular error is the final needle orientation error with respect to the angle set in the path planner.