Acceptability of Automated Robotic Clinical Breast Examination: Survey Study.

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.

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

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.

Optical-Tactile Sensor for Lump Detection Using Pneumatic Control.

Soft tactile sensors are an attractive solution when robotic systems must interact with delicate objects in unstructured and obscured environments, such as most medical robotics applications. The soft nature of such a system increases both comfort and safety, while the addition of simultaneous soft active actuation provides additional features and can also improve the sensing range. This paper presents the development of a compact soft tactile sensor which is able to measure the profile of objects and, through an integrated pneumatic system, actuate and change the effective stiffness of its tactile contact surface. We report experimental results which demonstrate the sensor's ability to detect lumps on the surface of objects or embedded within a silicone matrix. These results show the potential of this approach as a versatile method of tactile sensing with potential application in medical diagnosis.