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The aim of this study is to develop a miniaturized tactile sensor which is suitable for mounting on an endoscope for the hardness detection of submucosal tumors. The size of the piezoelectric tactile sensor is only 1.5 mm in diameter and hence it can be easily inserted in the endoscopy channel. To the best of our knowledge, this is the first miniaturized hardness sensor that is compatible with endoscopy...
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