# A dual-mode tactile hardness sensor for intraoperative tumor detection and tactile imaging in robot-assisted minimally invasive surgery

> Research article (Smart Materials and Structures, 2021) · cited 22× · AI/ML

**Wikidata**: [openalex:W3185489057](https://www.wikidata.org/wiki/openalex:W3185489057)  
**Source**: https://4ort.xyz/entity/a-dual-mode-tactile-hardness-sensor-for-intraoperative-tumor-detection-and-tactile-imaging-in-robot-assisted-minimally-i