Figure 4
From: Eye-mounting goggles to bridge the gap between benchtop experiments and in vivo robotic eye surgery
Assembled ball-transfer-unit (BTU) holder and bowl. (a) Top view of the BTU holder on swim goggles, with BTUs inserted. A gap in the BTU holder leaves space for the nose and the bridge of the goggles. (b) Bowl without a brim, rotated by \(\phi _\text {max}\), which is the angle at which it loses contact with a BTU. (c) Bowl with a brim, rotated by \(\phi _\text {max}\). The brim prevents the bowl from losing contact with the BTUs.
