A robotIc Radial palpatIon mechaniSm for breast examination (IRIS)

George P Jenkinson, Karl Tiemann, Angeliki Papathanasiou, Jonny Bewley, Andrew T Conn, Antonia Tzemanaki

Research output: Contribution to conferenceConference Paperpeer-review

722 Downloads (Pure)

Abstract

In this paper we present IRIS, a manipulator that is capable of applying contact forces when interacting with an object/stimulus, in increments in the order of mN up to 6N at 5 radial locations simultaneously. IRIS is based upon the contractual mechanism of its namesake: the iris diaphragm often found in cameras. Complete coverage of the surface of a realistic breast phantom is demonstrated using this contractual mechanism combined with control over the angle of incidence between the sensors and the stimulus using sim-to-real concepts. A significant amount of the complexity in control is outsourced to the morphology and compliance of the mechanism. The manipulator demonstrates the technological feasibility of a robotic clinical breast examination.
Original languageEnglish
Publication statusPublished - 31 Aug 2023
Event32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) - Paradise Hotel, Busan, Korea, Republic of
Duration: 28 Aug 202331 Aug 2023
Conference number: 32
https://ro-man2023.org/main

Conference

Conference32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
Abbreviated titleIEEE RO-MAN 2023
Country/TerritoryKorea, Republic of
CityBusan
Period28/08/2331/08/23
Internet address

Fingerprint

Dive into the research topics of 'A robotIc Radial palpatIon mechaniSm for breast examination (IRIS)'. Together they form a unique fingerprint.

Cite this