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– While there are many benefits to minimally invasive surgery (MIS), force feedback, or touch sensation, is limited in the currently available MIS tools, including surgical robots, creating the potential for excessive force application during surgery and unintended tissue injury. The goal of this work was to develop a methodology with which to identify(More)
Accurate knowledge of biomechanical characteristics of tissues is essential for developing realistic computer-based surgical simulators incorporating haptic feedback, as well as for the design of surgical robots and tools. As simulation technologies continue to be capable of modeling more complex behavior, an in vivo tissue property database is needed. Most(More)
Fig. 3: (top) Cross-section of sensorized cannula, (bottom) final sensorized cannula assembly 1 Background Minimally invasive surgical (MIS) techniques, including laparoscopy, are widely known to provide many benefits for patients [1]. More recently, teleoperated surgical devices have provided clinicians the ability to perform MIS procedures with the(More)
Surgical simulators are excellent training tools for minimally invasive procedures but are currently lacking in realistic tissue rendering and tissue responses to manipulation. Accurate color representation of tissues may add realism to simulators and provide medically relevant information. The goal of this study was to determine feasible methods for(More)
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