Multi-sensory force/deformation cues for stiffness characterization in soft-tissue palpation

@article{Tavakoli2006MultisensoryFC,
  title={Multi-sensory force/deformation cues for stiffness characterization in soft-tissue palpation},
  author={Mahdi Tavakoli and Arash Aziminejad and R. V. Patel and M. Moallem},
  journal={2006 International Conference of the IEEE Engineering in Medicine and Biology Society},
  year={2006},
  pages={837-840}
}
In the commercially available robot-assisted surgical systems, camera vision constitutes the only flow of data from the patient side to the surgeon side. This paper studies how various modalities for feedback of interaction between a surgical tool and soft tissue can improve the efficiency of a typical surgical task. Utilizing a haptics-enabled master-slave… CONTINUE READING