Figure 1. Robotic/manual control of a vitreoretinal surgical instrument and an in-vitro eye model constructed for the present study.

(A) Test procedures were conducted manually and by telerobotic system using the same visual system. A 25G v-lance was introduced into the eye through trocar cannula. (B) A piece of graph paper was attached on the fundus that provided targeting points for the test procedures. The eye model was loosely fixed by a magnet to mimic the eye movement during surgery. (C) In the test procedure 3 to measure the foce applied on the fundus, a load cell was placed beneath the graph paper of the fundus.