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. Author manuscript; available in PMC: 2018 Jun 1.
Published in final edited form as: IEEE Sens J. 2017 Apr 18;17(11):3526–3541. doi: 10.1109/JSEN.2017.2694965

Fig. 1.

Fig. 1

(a) Epiretinal membrane peeling using our motorized force-sensing micro-forceps with the force-sensitive region of the tool inserted into the eye through a 20 Gauge sclerotomy. (b) Components of the design (c) Motorized actuation mechanism driving the guide tube up/down for opening/closing the jaws. (c) The tool coordinate frame and FBG sensor configuration. The axial FBG sensor (FBG 4) at the center inside the guide tube and three lateral FBG sensors integrated on the guide tube (FBGs 1–3) measure axial (Fz) and transverse forces (Fx and Fy) at the tool tip, respectively.