Automatic breast cancer palpation robot. WAPRO-4

Ichiro Kato, Atsuo Takanishi, Atsuo Takanishi

    Research output: Contribution to journalArticle

    2 Citations (Scopus)

    Abstract

    The WAPRO-4 system consists of three parts: the measuring instrument, the locomotion unit, and the microcomputer system. The measuring instrument has four sensory rods which depress the mamma by their own weight independently of each other: the depth of their depression into the mamma is measured by linear differential transformers. The versatile industrial robot PANAROBO A 6256C was employed as a locomotion unit to operate the measuring instrument. The microcomputer system controls the locomotion unit and detects the tumour from the data collection. The software algorithm was constructed so as to detect only tumours while ignoring breathing and the configuration of the chest wall. Clinical tests were performed on 16 patients. The tumours of 15 patients were clearly detected.

    Original languageEnglish
    Pages (from-to)251-261
    Number of pages11
    JournalAdvanced Robotics
    Volume3
    Issue number4
    Publication statusPublished - 1989

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    Tumors
    Robots
    Microcomputers
    Industrial robots
    Control systems

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Automatic breast cancer palpation robot. WAPRO-4. / Kato, Ichiro; Takanishi, Atsuo; Takanishi, Atsuo.

    In: Advanced Robotics, Vol. 3, No. 4, 1989, p. 251-261.

    Research output: Contribution to journalArticle

    Kato, I, Takanishi, A & Takanishi, A 1989, 'Automatic breast cancer palpation robot. WAPRO-4', Advanced Robotics, vol. 3, no. 4, pp. 251-261.
    Kato, Ichiro ; Takanishi, Atsuo ; Takanishi, Atsuo. / Automatic breast cancer palpation robot. WAPRO-4. In: Advanced Robotics. 1989 ; Vol. 3, No. 4. pp. 251-261.
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