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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2019 Jul 1;67(4):966–977. doi: 10.1109/TBME.2019.2926060

Fig. 5.

Fig. 5.

Illustration of the coordinate frames. The sclera frame denoted as {s} is located at the sclerotomy port, the handle frame denoted as {h} is located at the tool handle, and the robot frame denoted as {r} is located at the robot base.