Skip to main content
. Author manuscript; available in PMC: 2019 Sep 1.
Published in final edited form as: Int J Comput Assist Radiol Surg. 2019 Mar 18;14(6):945–954. doi: 10.1007/s11548-019-01947-9

Fig. 7.

Fig. 7

Forces landscape with predictions. When “Label = 1” is on, Fx in the imminent 200 ms would possibly go over the safety threshold Fgate. Same situation suits for “Label=2” and Fy. The linear admittance control is activated to actuate the robot manipulator to reduce scleral force when label emerges.