Fig. 3: Characterization of the SMAR.
From: A soft micron accuracy robot design and clinical validation for retinal surgery
The motion precision of the SMAR was evaluated by sinusoidal trajectory and linear trajectory tests, respectively. a–c Experimental sinusoidal trajectory and experimental data. The amplitudes of α and β were 30°, 25°, and 5 mm, respectively. d–f Experimental linear trajectory and experimental data. The amplitude of α and β were 30°, 25°, and 5 mm, respectively. g, h RCM error during sinusoidal motion. i Microneedle mark points. j, k RCM error during linear motion. l Two cameras were placed vertically on the front and side of the SMAR to capture the trajectories of two markers (A and B)
