Rishi Kapadia

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— We present the design and evaluation of a novel low-cost palpation probe for Robot assisted Minimally Invasive Surgery (RMIS) for localizing subcutaneous blood vessels. It measures probe tip deflection using a Hall Effect sensor as the spherical tip is moved tangentially across a surface under automated control. The probe is intended to be single-use and(More)
— In surgical tumor removal, inaccurate localization can lead to removal of excessive healthy tissue and failure to completely remove cancerous tissue. Automated haptic pal-pation has the potential to precisely estimate the geometry of embedded tumors during robot-assisted minimally invasive surgery. We formulate the tumor boundary localization problem in(More)
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