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(a) The motorized force-sensing micro-forceps module [24]. The tool provides firm grasping functionality, can accommodate various jaw profiles for handling different types of tissues (profile-1 for thick epiretinal membranes, and profile-2 for internal limiting membranes), and senses the transverse forces exerted at its tip via the embdedded FBGs. (b) The micro-forceps module is compatible with the handheld micromanipulator, Micron.
