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Abstract:

Robotic surgery is a field still in its infancy seeking for technologies that offer natural procedures for surgeons to perform the interventions. A novel haptic interface for hand-free palpation is presented. The interface works in the encountered-type basis to increase the naturalness for palpation procedures. The proof of concept and method to render spatially distributed kinaesthetic information is addressed. Experimental results show that high levels of naturalness on palpation are reached.