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Results of sclerotomy location calibration. The calculated distance from the tool tip to sclerotomy ds versus the actual value (a), the RMS error at each calibrated location verus the actual distance (b). The further the scleratomy is located from the tool tip, i.e., the closer it is with respect to FBG-II and FBG-III, the smaller is the RMS error. Data points with forces smaller than 5 mN in magnitude is not included to reduce noise, as discussed in Section II-B.
