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Open Access Academic Papers from Research Square

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Article under-review

An FBG Tactile Sensor Array and Self-SupervisedContrastive Learning Transformer for TumorDepth Estimation in Robotic Palpation

Shiyuan Dong, Peibo Sun, Jianrong Cai, Aoji Zhu, Zhenning Zhou, Tianqi Huang, Hongen Liao, Zhengkun Yi, Lidong Yang, Fang chen

Restoring haptic feedback remains a major challenge in robot-assisted minimally invasive surgery (RMIS), especially for localizing subsurface tumors and estimating their depth. This paper presents a c...

npj Robotics 2026-04-23 rs-9278913
Fiber Bragg grating sensor array robotic palpation time-series transformer tumor depth estimation
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