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(a) Force-sensing microneedle tool concept: the tip module and the handle mechanism. (b) The inner tube of the tool shaft delivers the injection fluid, while 3 FBG sensors on the outer tube sense transverse forces on the microneedle tip. (c) Manufactured prototype. Microneedle tip is pre-bent, 45° relative to the tool axis, to enable more gradual approach to the retina surface.
