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Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery

<02>A novel concept, rolling mechanical imaging, is proposed for intra-operative examination of soft-tissue organs during minimally invasive surgery (MIS). For the first time, the paper proposes a methodology that allows surgeons to remotely palpate organs – invaluable during robot-assisted MIS where no haptic feedback is available. The concept provides a solution to the open problem of rapidly acquiring force and displacement information across a relatively large area, using a miniaturised tool. The work has been cited by leading researchers in surgical robotics, including Alison Okamura, Stanford University, and Nabil Simaan, Columbia University.