Ieee robotics and automation letters. preprint version. accepted july, 2022 1 i. i the 2019 world health organization survey on eye diseases showed that more than 2 billion people in the world are suffering from some form of vision impairment with almost 200 million people suffering of age-related macular degeneration [1]. other common retinal disorders include idiopathic epiretinal membrane, diabetic retinopathy, retinal detachment, and retinal vein occlusion. all these conditions are associated with the posterior segment of the eye, the accessibility of which is strongly limited by the small workspace inside the vitreous humour [2]. typically, in retinal microsurgery, with the aid of a microscope, long, thin ophthalmic tools are inserted through the sclera to access the internal volume of the eyeball to perform delicate surgical tasks in the posterior segment of the eye [3]. although this type of surgery is widely performed to treat fundus diseases, these

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• who: agost from the (UNIVERSITY) have published the research work: IEEE ROBOTICS AND AUTOMATION LETTERS. PREPRINT VERSION. ACCEPTED JULY, 2022 1 I. I The 2019 World Health Organization survey on eye diseases showed that more than 2 billion people in the world are suffering from some form of vision impairment with almost 200 million people suffering of age-related macular degeneration [1]. Other common retinal disorders include idiopathic epiretinal membrane, diabetic retinopathy, retinal detachment, and retinal vein occlusion. All these conditions are associated with the posterior segment of the eye, the accessibility of which is strongly limited . . .
  

   

  

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