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During the insertion and manipulation of minimally invasive tools, a physician’s ability to accurately feel forces on the tool is compromised as it traverses tissues of varying properties. It is valuable to know, for example, when specific membranes are punctured, or if there is a fatty deposit occluding the tool’s trajectory. This work aims to provide interventional surgeons with the haptic cues for forces at the tip of a biopsy needle.
Patent application published. https://www.google.com/patents/US20140257091?dq=14/204836&hl=en&sa=X&ei=sPwdVIfTM4KvogTS24KoBg&ved=0CB0Q6AEwAA
Paper accepted to ASME J. of Medical Devices (Sept. 18, 2014).
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