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. Author manuscript; available in PMC: 2014 Nov 5.
Published in final edited form as: IEEE Int Conf Robot Autom. 2014 May-June;2014:1411–1418. doi: 10.1109/ICRA.2014.6907037

Fig. 14.

Fig. 14

Sclera force of one retina vein tracing trial (a). The corresponding trajectories of the scleratomy point (red) and the tool tip (purple) (b). The black straight line shows the end position of the tool shaft.