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Manual palpation of organs played a vital role in detecting abnormalities in open surgeries. However, surgeons
have lost this ability with the development of minimally invasive surgeries. This challenge led to the development of artificial sensors for palpating the patient's organs and tissue. The majority of research done is related to improving the measurement of tissue compliance by the development of versatile force sensors for surgical


Minimally-Invasive Surgeries can benefit from having miniaturized sensors on surgical graspers to provide additional information to the surgeons. One such potential sensor is an ultrasound transducer. At long travel distances, the ultrasound transducer can accurately measure its ultrasound wave's time of flight, and from it, classify the grasped tissue. However, the ultrasound transducer has a ringing artifact arising from the decaying oscillation of its piezo element, and at short travel distances, the artifact blends with the acoustic echo.