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. Author manuscript; available in PMC: 2023 Dec 15.
Published in final edited form as: IEEE Int Conf Robot Autom. 2023 Jul 4;2023:4661–4667. doi: 10.1109/icra48891.2023.10161151

Fig. 1.

Fig. 1.

Robotic system overview: (a) Scleral force measurement setup. (b) Scleral incision point and cornea. The red-dashed line is set to zero as the scleral constraint. (c) The top-down view of an intact porcine eye.