A Survey of Tactile-Sensing Systems and Their Applications in Biomedical Engineering

Figure 11

(a) Schematic illustration of disposable palpation mounted on da Vinci Research Kit (dVRK) needle tool. (b) Photograph shows the silicone tissue phantom with blood vessel inclusions and dermal phantom (adapted with permission from Ref. [110]; copyright 2015, IEEE publishing group).

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(b)