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. 2020 Apr 22;15(5):771–779. doi: 10.1007/s11548-020-02146-7

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© The Author(s) 2020

Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 1 — Experimental setup with a Franka Emika Panda robot and the attached electrode, a microphone as well as multiple tissue types aligned to specimens within the specimen mold. The instrument, wired to a electrosurgical unit, is dragged along the surface of each specimen with constant speed. Additional audio and video for visual ground-truth determination was recorded using a separate camera