Table 3.

Comparison of mechanical characterization of methods for tissues.

Paper	Main features	Limitations	Clinical/medical applications
Haddadi et al. [36]	Improved tissue characterization robustness	Performance decrease at higher robot speed	Artery calcifications
Avazmohammadi et al. [37]	Complete gallery of heart tissue models	Limited analysis of pathological conditions	Myocardium analysis
Dewi et al. [38]	Comparative analysis of heart tissue models	Limited technological aspects	Heart tissue
Zhang et al. [39]	Phantoms based on innovative materials	Midplane detection needed	Abdomen
Wen et al. [40]	Calibration procedure based on tissue identification	Bad conditioning	General applications
Cairone et al. [41]	Detection of microcirculation anomalies	Abstract modeling	Microcirculation