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. Author manuscript; available in PMC: 2016 Apr 26.
Published in final edited form as: IEEE SICE RSJ Int Conf Multisens Fusion Integr Intell Syst. 2015 Sep;2015:322–327. doi: 10.1109/MFI.2015.7295828

Figure 1.

Figure 1

(a) Conceptual overview to assist retinal vein cannulation. A microneedle is used to inject t-PA into the ocluded retinal vein. The needle is bent (45°) to approach the vein at the optimal angle (~30°). The needle is kept straight and protected inside an outer tube while inserting through the sclera. It is exposed upon reaching the vein surface via a motorized unit [25]. FBGs integrated on the tool shaft sense tool-to-tissue forces inside of the eye. (b) Fabricated prototype. The force-sensing microneedle was combined with a handheld micromanipulator, Micron.