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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. 5:

Fig. 5:

Experiment setup. (a) SHER 2.0 for moving the retina phantom, SHER 2.1 for conducting the control algorithm, FBG Interrogator for the dual force-sensing tool and E-stop; (b) 3D-printed retina phantom made of PLA, fixed sclera phantom and dual force-sensing tool; (c) Red retina membrane with vessels, microneedle inside the vessel.