Tactile force sensor based on a modified acoustic reflection principle for intraoperative tumor localization in minimally invasive surgery. - Hoang-Hiep Ly; Manh-Cuong Bui; Ba-Nghia Mai; Hai-Duong Phung; Huy Anh Bui; Duc-Tung Ta; Thi-Thoa Mac; Xuan-Thuan Nguyen (Int. J. Comput. Assist. Radiol. Surg., 2026)