Development of breast cancer palpation simulator using pneumatic parallel manipulator

Nowadays, the breast cancer, over ahead of stomach one, holds the highest cancer incidence rate among Japanese women. Detection of breast cancer is done by palpation diagnosis, which require doctor to have highly experienced technique. In this study, we develop a palpation simulator which forms a woman´s actual breast model holding active controlled variable stiffness property. A pneumatic parallel manipulator is employed as mechanical part of our simulator. In order to display a concrete stiffness feeling to human (doctor), control strategy is proposed where the contact point is detected using an idea of graphical intersection test. A reference stiffness is realized by constructing a compliance control system. By regulating the reference stiffness value according to the contact point, a palpation motion is executed. The validity of the proposed palpation system are confirmed through some experiments and analysis.