MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery

Wanlin Li, Zihang Zhao, Leiyao Cui +4

Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over traditional open and laparoscopic methods. However, a significant limitation of RAMIS is the su…