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INTRODUCTION One of a surgeon's most important tools is a highly developed sense of touch. Surgeons rely on sensations from the finger tips to guide manipulation and to perceive a wide variety of anatomical structures and pathologies. Unfortunately, new surgical techniques separate the surgeon's hands from the surgical site. These techniques include(More)
This paper presents a tactile sensor that provides transient event information at the jinger-object interface. The multi-element stress rate sensor consists of piezoelectric polymer strips molded into the surface of the rubber " skin " covering the robot finger tip. These piezoelectric elements provide localized information important to manipulation(More)
Early detection and removal of small pulmonary nodules significantly improves long term survival rates for patients with lung cancer. To aid in the localization of these tumors during video assisted thoracoscopic surgery (VATS), a tactile imaging system (TIS) is presented. The system consists of a capacitive array sensor mounted on a minimally invasive(More)
This paper presents initial results in integrating touch with vision for delicate manipulation tasks. A generalizable framework of behavioral primitives for tactile and visual feedback control is proposed. Since vision provides position and shape information at a distance, while tactile provides small-scale geometric and force information, we focus on the(More)
This paper describes a system for finding hidden arteries in remote and inaccessible locations. A tactile array sensor is located in the end of a long, 10 mm diameter probe. In a surgical application, the surgeon presses the sensor against the tissue of interest, and electronics read out the pressure distribution across the contact area at a high rate. A(More)
We propose a general strategy to synthesize largely unexplored soluble chalcogenidometallates of cadmium, lead, and bismuth. These compounds can be used as "solders" for semiconductors widely used in photovoltaics and thermoelectrics. The addition of solder helped to bond crystal surfaces and link nano- or mesoscale particles together. For example, CdSe(More)
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