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. Author manuscript; available in PMC: 2019 Aug 2.
Published in final edited form as: Proc IEEE Sens. 2018 Dec 27;2018:10.1109/ICSENS.2018.8589810. doi: 10.1109/ICSENS.2018.8589810

Fig. 2.

Fig. 2.

The five basic operations. (a). Eyeball rotations around three axes of eyeball coordinate system. (b). Tool scissor motion. (c) Tool vessel following.