A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery.
Stephen McKinleyAnimesh GargSiddarth SenRishi KapadiaAdithyavairavan MuraliKirk A. NicholsSusan LimSachin PatilPieter AbbeelAllison M. OkamuraKen GoldbergPublished in: CASE (2015)