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Implementation of tactile sensing for palpation in robot-assisted minimally invasive surgery: A review

Research output: Contribution to journalReview article

Original languageEnglish
Pages (from-to)2490-2501
Number of pages12
Issue number8
Publication statusPublished - Aug 2014


  • IEEE_Sensors_Konstantinova

    IEEE_Sensors_Konstantinova.pdf, 686 KB, application/pdf


    Accepted author manuscript

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King's Authors


Robot-assisted Minimally Invasive Surgery (RMIS) made it possible to perform a number of medical manipulations with reduced patient trauma and better accuracy. Various devices, including tactile sensors, have been developed in recent years to enhance the quality of this procedure. The objective of this paper is to review the latest advancements and challenges in the development of tactile sensing devices designed for surgical applications. In particular the focus is on palpation and probing devices that can be potentially used in RMIS. In addition, we explore the aspects that should be taken into account when designing tactile sensors for RMIS, incorporating biological inspiration of tactile sensing, features of manual palpation, requirements of RMIS. We provide an overview of recommendations for the development of tactile sensing devices, especially in the context of RMIS.

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