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. Author manuscript; available in PMC: 2015 Sep 22.
Published in final edited form as: IEEE Int Conf Robot Autom. 2015 May;2015:1764–1769. doi: 10.1109/ICRA.2015.7139426

Fig. 2.

Fig. 2

Retinal vein cannulation simulated using a chorioallantoic membrane (CAM): (a) the micropipette (ø70 μm) is deployed from a guide tube that is positioned with about 45° from the CAM surface. (b) The micropipette is punctured into the vessel and injects air to visualize the successful cannulation.