A robotIc Radial palpatIon mechaniSm for breast examination (IRIS)

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

doi:10.1109/ro-man57019.2023.10309324

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 conference › Conference Paper › peer-review

1 Citation (Scopus)

1048 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 language	English
DOIs	https://doi.org/10.1109/ro-man57019.2023.10309324
Publication status	Published - 31 Aug 2023
Event	32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) - Paradise Hotel, Busan, Korea, Republic of Duration: 28 Aug 2023 → 31 Aug 2023 Conference number: 32 https://ro-man2023.org/main

Conference

Conference	32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
Abbreviated title	IEEE RO-MAN 2023
Country/Territory	Korea, Republic of
City	Busan
Period	28/08/23 → 31/08/23
Internet address	https://ro-man2023.org/main

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10.1109/ro-man57019.2023.10309324

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For the purpose of open access, the author has applied a Creative Commons Attribution (CCBY) license to any Author Accepted Manuscript version arising.
Accepted author manuscript, 7.63 MBLicence: CC BY

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ARTEMIS: 8036 Cancer Research UK via Imperial ARTEMIS
Tzemanaki, A. (Principal Investigator), Jenkinson, G. P. (Student) & Taiwo, E. T. (Researcher)
1/04/20 → 31/12/21
Project: Research

Soft Variable Stiffness Tactile Sensors for Clinical Examinations
Jenkinson, G. P. (Author), Tzemanaki, A. (Supervisor) & Conn, A. T. (Supervisor), 19 Mar 2024
Student thesis: Doctoral Thesis › Doctor of Philosophy (PhD)

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author = "Jenkinson, \{George P\} and Karl Tiemann and Angeliki Papathanasiou and Jonny Bewley and Conn, \{Andrew T\} and Antonia Tzemanaki",

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T1 - A robotIc Radial palpatIon mechaniSm for breast examination (IRIS)

AU - Jenkinson, George P

AU - Tiemann, Karl

AU - Papathanasiou, Angeliki

AU - Bewley, Jonny

AU - Conn, Andrew T

AU - Tzemanaki, Antonia

N1 - Conference code: 32

PY - 2023/8/31

Y1 - 2023/8/31

N2 - 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.

AB - 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.

U2 - 10.1109/ro-man57019.2023.10309324

DO - 10.1109/ro-man57019.2023.10309324

M3 - Conference Paper

T2 - 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

Y2 - 28 August 2023 through 31 August 2023

ER -

A robotIc Radial palpatIon mechaniSm for breast examination (IRIS)

Abstract

Conference

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Projects

ARTEMIS: 8036 Cancer Research UK via Imperial ARTEMIS

Student theses

Soft Variable Stiffness Tactile Sensors for Clinical Examinations

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