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. Author manuscript; available in PMC: 2011 Mar 29.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010 Sep 1;2010(26-29):814–819. doi: 10.1109/BIOROB.2010.5625991

Fig. 5.

Fig. 5

Tool with FBG force sensors attached, inserted through a sclerotomy opening.