MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery. - Wanlin Li; Zihang Zhao; Leiyao Cui; Weiyi Zhang 006; Hangxin Liu; Li-An Li; Yixin Zhu 001 (IEEE Robotics Autom. Lett., 2024)