Softness sensing probe with multiple acoustic paths for laparoscopic surgery

Taku Ukai, Yoshihiro Tanaka, Tomohiro Fukuda, Takuma Kajikawa, Hiroshi Miura, Yukihiro Terada. Softness sensing probe with multiple acoustic paths for laparoscopic surgery. Int. J. Computer Assisted Radiology and Surgery, 15(9):1537-1547, 2020. [doi]

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