# A miniature piezoelectric spiral tactile sensor for tissue hardness palpation with catheter robot in minimally invasive surgery

> Research article (Smart Materials and Structures, 2019) · cited 48× · AI/ML

**Wikidata**: [openalex:W2909070199](https://www.wikidata.org/wiki/openalex:W2909070199)  
**Source**: https://4ort.xyz/entity/a-miniature-piezoelectric-spiral-tactile-sensor-for-tissue-hardness-palpation-with-catheter-robot-in-minimally-invasive-