A novel haptic robotic viscogram for characterizing the viscoelastic behaviour of breast tissue in clinical examinations

Abstract

The results show that Robo-Tac-BMI has the potential to provide high-order mechanical parameters, unlike the conventional screening modality carried out by the surgeon, which is not inclusive or quantitative and lacks effectiveness and documentation. The nodule detection ability of this device is confirmed statistically in clinical breast examinations. Differentiation between different mass types is reported as the preliminary result of Robo-Tac-BMI utilization.