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. Author manuscript; available in PMC: 2021 Jun 8.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Jun 25;5(3):4874–4881. doi: 10.1109/LRA.2020.3005129

Fig. 10. Penetration of the optic nerve by the robot’s needle.

Fig. 10

Top-A-C indicate cannulation of the optic nerve. A: Approach of the robotic needle, B: Cannulation of the optic nerve, C: Retraction of the robotic needle. The graph presents the mean value of the vertical and lateral forces as measured by the force sensor and the maximum and minimum recorded values between different trials. Middle-measured values for 4 trials. Bottom-averaged value and maximum and minimum threshold for measured values of lateral (fxy) and penetrating (fz) forces.