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MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection
- Source :
- IEEE Robotics and Automation Letters. 6:5056-5063
- Publication Year :
- 2021
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2021.
-
Abstract
- This letter presents MAMMOBOT, one of the first millimetre-scale steerable soft growing robots for medical applications. MAMMOBOT aims to access the breast through the nipple and navigate the mammary ducts to detect precursors of invasive breast cancers. Addressing limitations of the state-of-the-art, MAMMOBOT maintains a hollow inner lumen throughout its soft body, enabling the passing of instruments such as miniature endoscopes, biopsy needles, and optical probes for in situ histopathology. MAMMOBOT is developed by a novel manufacturing approach entailing dual LDPE sheet adhesion with localised heat treatment. MAMMOBOT's steerability is achieved through a sub-millimetre profiled tendon-driven catheter that passes through its inner lumen. A duty cycle controller governs steering versus growing to achieve navigation in complex environments within a human-in-the-loop framework. Benchtop experimental evaluation demonstrates the robot's capabilities and agreement with a Reduced-Order Mode (ROM) of its dynamics. Finally, experimental evaluation on a bespoke breast phantom developed for the purposes of this project demonstrates the clinical relevance and potential impact of MAMMOBOT.
- Subjects :
- 0209 industrial biotechnology
Early breast cancer detection
Control and Optimization
Computer science
Controller (computing)
Biomedical Engineering
02 engineering and technology
03 medical and health sciences
020901 industrial engineering & automation
0302 clinical medicine
Artificial Intelligence
Potential impact
business.industry
Mechanical Engineering
Soft body
Computer Science Applications
Breast phantom
Human-Computer Interaction
Control and Systems Engineering
030220 oncology & carcinogenesis
Robot
Biopsy needles
Computer Vision and Pattern Recognition
business
Computer hardware
Lumen (unit)
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 6
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi...........cb7b33eec464fd48277a9333518b54eb