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Can a robotic device determine whether it is touching a tumor or normal tissue?

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Can a robotic device determine whether it is touching a tumor or normal tissue?

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According to Professor Simaan of Vanderbilt University, yes, robotics devices can "feel" the difference between tumor cancerous tissue and healthy tissue. Part of the reason for this is that tumorous tissue extends beyond the surface level of healthy tissue; it protrudes at least somewhat.

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