Optical-Tactile Sensor for Lump Detection Using Pneumatic Control

Bewley, Jonathan; Jenkinson, George P.; Tzemanaki, Antonia

doi:10.3389/frobt.2021.672315

Cited by 9 publications

(6 citation statements)

References 25 publications

(46 reference statements)

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“…For example, most respondents (128/155, 82.6%) were willing to be examined for up to 15 minutes and were also willing to receive results directly from ARTEMIS (in some format) rather than from an HCP. Research suggests that it is feasible to create an automated R-CBE service based on these acceptability characteristics [29][30][31].…”

Section: Principal Findingsmentioning

confidence: 99%

“…The platform could be used by women without direct clinical supervision (Figure 1). A prototype is currently in the early stages of development [29][30][31]. Although such a platform may be capable of effectively performing and interpreting CBE, the voices of potential users are essential in determining how this should be designed and implemented.…”

Section: Introductionmentioning

confidence: 99%

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Acceptability of Automated Robotic Clinical Breast Examination: Survey Study

Jenkinson¹,

Houghton²,

Zalk³

et al. 2023

J Particip Med

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Background In the United Kingdom, women aged 50 to 70 years are invited to undergo mammography. However, 10% of invasive breast cancers occur in women aged ≤45 years, representing an unmet need for young women. Identifying a suitable screening modality for this population is challenging; mammography is insufficiently sensitive, whereas alternative diagnostic methods are invasive or costly. Robotic clinical breast examination (R-CBE)—using soft robotic technology and machine learning for fully automated clinical breast examination—is a theoretically promising screening modality with early prototypes under development. Understanding the perspectives of potential users and partnering with patients in the design process from the outset is essential for ensuring the patient-centered design and implementation of this technology. Objective This study investigated the attitudes and perspectives of women regarding the use of soft robotics and intelligent systems in breast cancer screening. It aimed to determine whether such technology is theoretically acceptable to potential users and identify aspects of the technology and implementation system that are priorities for patients, allowing these to be integrated into technology design. Methods This study used a mixed methods design. We conducted a 30-minute web-based survey with 155 women in the United Kingdom. The survey comprised an overview of the proposed concept followed by 5 open-ended questions and 17 closed questions. Respondents were recruited through a web-based survey linked to the Cancer Research United Kingdom patient involvement opportunities web page and distributed through research networks’ mailing lists. Qualitative data generated via the open-ended questions were analyzed using thematic analysis. Quantitative data were analyzed using 2-sample Kolmogorov-Smirnov tests, 1-tailed t tests, and Pearson coefficients. Results Most respondents (143/155, 92.3%) indicated that they would definitely or probably use R-CBE, with 82.6% (128/155) willing to be examined for up to 15 minutes. The most popular location for R-CBE was at a primary care setting, whereas the most accepted method for receiving the results was an on-screen display (with an option to print information) immediately after the examination. Thematic analysis of free-text responses identified the following 7 themes: women perceive that R-CBE has the potential to address limitations in current screening services; R-CBE may facilitate increased user choice and autonomy; ethical motivations for supporting R-CBE development; accuracy (and users’ perceptions of accuracy) is essential; results management with clear communication is a priority for users; device usability is important; and integration with health services is key. Conclusions There is a high potential for the acceptance of R-CBE in its target user group and a high concordance between user expectations and technological feasibility. Early patient participation in the design process allowed the authors to identify key development priorities for ensuring that this new technology meets the needs of users. Ongoing patient and public involvement at each development stage is essential.

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Section: Principal Findingsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Acceptability of Automated Robotic Clinical Breast Examination: Survey Study

Jenkinson¹,

Houghton²,

Zalk³

et al. 2023

J Particip Med

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“…In their experiments, the sensor successfully detects lumps that have been placed into a silicone base. This experiment roughly simulates clinical breast examination [13].…”

Section: Photoelectric/optical-base Sensormentioning

confidence: 99%

A review of tactile sensors used in surgical robots

Dong

Huo²

2023

Second International Conference on Biological Engineering and Medical Science (ICBioMed 2022)

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Applications of robotics-assist surgeries developed rapidly in worldwide biomedical research. Haptic and force feedback is one of the main challenges in current research on surgical robotics. Lack of proper haptic and force feedback in roboticassist surgeries will limit the movement and affect the doctors' judgement. Force sensors play an essential role when collecting and transporting feedback signals, and different sensors have their respective advantages and disadvantages. Based on the haptic and force feedback background related to surgical robots, this article will introduce the main features of different force sensors, including but not limited to traditional sensors like optical-based and recent-developed on-skin sensors. This article will also discuss further how the precision and stability of haptic feedback could be improved and the possible applications of new haptic and force feedback technologies in future studies.

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“…It is, therefore, hard to achieve high quality results for a palpatory task involving unpredictable tactile stimuli that may exhibit a large range of stiffnesses when controlling only the force, position, and velocity of the sensor. Soft robotic sensors that can actively control their inner pneumatic pressure, and therefore their effective stiffness, shape, and friction coefficient have demonstrated utility in a number of tactile tasks including estimating bulk tissue elastic modulus [ 14 , 15 ], detecting the presence of an embedded stiff node in a soft material [ 16 ], and detecting and reacting to slip [ 17 , 18 ].…”

Section: Introductionmentioning

confidence: 99%

ESPRESS.0: Eustachian Tube-Inspired Tactile Sensor Exploiting Pneumatics for Range Extension and SenSitivity Tuning

Jenkinson

Conn

Tzemanaki

2023

Sensors

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Optimising the sensitivity of a tactile sensor to a specific range of stimuli magnitude usually compromises the sensor’s widespread usage. This paper presents a novel soft tactile sensor capable of dynamically tuning its stiffness for enhanced sensitivity across a range of applied forces, taking inspiration from the Eustachian tube in the mammalian ear. The sensor exploits an adjustable pneumatic back pressure to control the effective stiffness of its 20 mm diameter elastomer interface. An internally translocated fluid is coupled to the membrane and optically tracked to measure physical interactions at the interface. The sensor can be actuated by pneumatic pressure to dynamically adjust its stiffness. It is demonstrated to detect forces as small as 0.012 N, and to be sensitive to a difference of 0.006 N in the force range of 35 to 40 N. The sensor is demonstrated to be capable of detecting tactile cues on the surface of objects in the sub-millimetre scale. It is able to adapt its compliance to increase its ability for distinguishing between stimuli with similar stiffnesses (0.181 N/mm difference) over a large range (0.1 to 1.1 N/mm) from only a 0.6 mm deep palpation. The sensor is intended to interact comfortably with skin, and the feasibility of its use in palpating tissue in search of hard inclusions is demonstrated by locating and estimating the size of a synthetic hard node embedded 20 mm deep in a soft silicone sample. The results suggest that the sensor is a good candidate for tactile tasks involving unpredictable or unknown stimuli.

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Optical-Tactile Sensor for Lump Detection Using Pneumatic Control

Cited by 9 publications

References 25 publications

Acceptability of Automated Robotic Clinical Breast Examination: Survey Study

Acceptability of Automated Robotic Clinical Breast Examination: Survey Study

A review of tactile sensors used in surgical robots

ESPRESS.0: Eustachian Tube-Inspired Tactile Sensor Exploiting Pneumatics for Range Extension and SenSitivity Tuning

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