Nanomaterial enabled palpation device for tissue abnormality detection

This thesis presents an innovative approach to the development of a tactile sensing system for detecting tissue abnormalities, particularly in hard-to-reach areas. The thesis explores the challenges in robotic tactile sensing, including the need for high spatial resolution, rapid response times, and biocompatibility in medical environments. The research focuses on the integration of nanomaterials based sensors with specialized sensor array readout and visualization system to create highly sensitive and robust palpation device.