Here is the circuit, using the LT6101. The circuit 'hangs down' from the high side rail. There is a Zener diode that clamps the voltage across the LT6101 to 33V and a resistor, R4, that provides bias for the Zener. The LT6101 outputs a current. This current feeds into the emitter of Q2. If the gain of Q2 is low, then Q2 will have a large base current. Since the collector current = Emitter current - base current, then a large base current will present a large error. However, with a Darlington configuration, this base current feeds into the emitter of the second transistor Q1. This emitter current (of Q1) is much smaller than the emitter current of Q2.
Q1's collector current = Emitter current - base current. However, the base current of Q2 is now the emitter current of Q1, and most of this feeds into the output resistor R3. Therefore the 'error current' of Q2 (its base current) is now fed back into the output.
The only error current in the Q1/Q2 combo is effectively the emitter current of Q2 divided by the gain squared. This is equal to the base current of Q1.
Putting some number into it...
If the current coming out of the LT6101 is 1mA and Q2 has a gain of only 10, Q2's base current is 100uA. This is current that we want to flow into R3 (but does not), so represents an error. However, with the Darlington, this current flows into Q1. If Q1 only has a gain of 10, then 10uA flows into the base of Q1. The rest of the current flows into the collector of Q1. Therefore R3's current is 1mA - [1ma/(10x10)].
If the gain is higher, the error term is less.
There must be a more eloquent way of explaining that cos it sounds much more complicated than it really is
This circuit works and is in production. You just need to make sure that the VCE rating of each transistor is greater than the maximum voltage on the sense line