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. Author manuscript; available in PMC: 2022 Jun 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2022 Feb 21;69(3):1123–1132. doi: 10.1109/TBME.2021.3114638

Fig. 8.

Fig. 8.

Correlation between needle-tissue and tool-sclera (top row), needle-tissue and handle-surgeon (middle row), and tool-sclera and handle-surgeon (bottom row) interaction forces, for different timespans before and after the puncture