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The complete setup: (a) the SHER robot, the surgical microscope, the confocal laser endomicroscopy system, the pCLE probe, and an artificial eyeball phantom, (b) sketch of the setup, (c) the dVRK stereo vision, console and MTM, (d) the user’s view, where the pCLE view is overlaid on the top left of the surgical microscope view looking through the eyeball opening, and the pCLE probe can be seen.
