Patent ID: 8652046

Claim:
A method for performing tissue examination with a computer-assisted minimally invasive hand tool, comprising the steps of: moving the computer-assisted hand tool into contact with a tissue under examination; receiving and processing a plurality of signals from one or more sensors of a sensor array in the computer-assisted hand tool in response to at least one feature detected in a time interval during movement of the hand tool in contact with the tissue under examination; generating a power spectrum of the plurality of signals during the time interval; locating one or more peak signals within the power spectrum; compiling the one or more peak signals that comprise a peak value that exceeds a threshold value into a peak signal list; generating and providing a haptic feedback to a user that is responsive to at least one feature detected in the time interval, wherein the haptic feedback is a dynamic haptic effect comprising parameters that comprise magnitude, frequency and duration; wherein the parameters of the haptic feedback are based at least in part on a number of peak signals in the peak signal list.