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. Author manuscript; available in PMC: 2021 Sep 29.
Published in final edited form as: Int Symp Med Robot. 2021 Jan 11;2020:10.1109/ismr48331.2020.9312945. doi: 10.1109/ismr48331.2020.9312945

Fig. 2:

Fig. 2:

Johns Hopkins Steady-Hand Eye Robot [16]. (a) Overall view of SHER 2.1. (b) The description of the x and y components of the sclera force and tip force in the sclera frame {s} and tip frame {t}. The tool insertion depth is denoted as d.