2022
Comparing Human Haptic Perception and Robotic Force/Torque Sensing in a Simulated Surgical Palpation Task
IROS 2022
In minimally invasive surgery (MIS), the reliable detection of hard inclusions in soft tissue is crucial for the success of the intervention. In robot-assisted surgery (RAS) however, limited technologies are available for intracorporeal tissue stiffness assessment due to the lack of force and tactil