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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. 8.

Fig. 8

Example applications for the IRIS: (a) IRIS in an eye phantom, (b) potential application as a steerable needle (top), micro-forceps (middle), and micropipette (bottom).