{"id":"https://openalex.org/W3140000252","doi":"https://doi.org/10.1109/lra.2021.3068676","title":"MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection","display_name":"MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection","publication_year":2021,"publication_date":"2021-03-26","ids":{"openalex":"https://openalex.org/W3140000252","doi":"https://doi.org/10.1109/lra.2021.3068676","mag":"3140000252"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3068676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068676","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049598614","display_name":"Pierre Berthet-Rayne","orcid":"https://orcid.org/0000-0001-9118-4877"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pierre Berthet-Rayne","raw_affiliation_strings":["Robotics and Vision Department in Medicine Lab, School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9118-4877","affiliations":[{"raw_affiliation_string":"Robotics and Vision Department in Medicine Lab, School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076130972","display_name":"S. M. Hadi Sadati","orcid":"https://orcid.org/0000-0002-5862-265X"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"S. M. Hadi Sadati","raw_affiliation_strings":["Robotics and Vision Department in Medicine Lab, School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5862-265X","affiliations":[{"raw_affiliation_string":"Robotics and Vision Department in Medicine Lab, School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073050553","display_name":"\u0393\u03b5\u03ce\u03c1\u03b3\u03b9\u03bf\u03c2 \u03a0\u03ad\u03c4\u03c1\u03bf\u03c5","orcid":null},"institutions":[{"id":"https://openalex.org/I131328143","display_name":"Union Bank of Switzerland","ror":"https://ror.org/01ekk8h85","country_code":"CH","type":"funder","lineage":["https://openalex.org/I131328143"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Georgios Petrou","raw_affiliation_strings":["Artificial Limbs, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Limbs, London, U.K","institution_ids":["https://openalex.org/I131328143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008190729","display_name":"Neel Patel","orcid":"https://orcid.org/0000-0002-1942-778X"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Neel Patel","raw_affiliation_strings":["Robotics and Vision Department in Medicine Lab, School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Vision Department in Medicine Lab, School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054387003","display_name":"Stamatia Giannarou","orcid":"https://orcid.org/0000-0002-8745-1343"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Stamatia Giannarou","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031176491","display_name":"Daniel Leff","orcid":"https://orcid.org/0000-0002-5310-1046"},"institutions":[{"id":"https://openalex.org/I153355300","display_name":"Imperial College Healthcare NHS Trust","ror":"https://ror.org/056ffv270","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I153355300"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniel Richard Leff","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K","Imperial College Healthcare NHS Trust, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Imperial College Healthcare NHS Trust, London, U.K","institution_ids":["https://openalex.org/I153355300"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008795008","display_name":"Christos Bergeles","orcid":"https://orcid.org/0000-0002-9152-3194"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christos Bergeles","raw_affiliation_strings":["Robotics and Vision Department in Medicine Lab, School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9152-3194","affiliations":[{"raw_affiliation_string":"Robotics and Vision Department in Medicine Lab, School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9024,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.91502953,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"6","issue":"3","first_page":"5056","last_page":"5063"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bespoke","display_name":"Bespoke","score":0.6100903153419495},{"id":"https://openalex.org/keywords/lumen","display_name":"Lumen (anatomy)","score":0.5343871116638184},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5140224695205688},{"id":"https://openalex.org/keywords/breast-cancer","display_name":"Breast cancer","score":0.4661024808883667},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.45373857021331787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4498988687992096},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26920419931411743},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24631619453430176},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.24190309643745422},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.22817263007164001},{"id":"https://openalex.org/keywords/cancer","display_name":"Cancer","score":0.19911691546440125}],"concepts":[{"id":"https://openalex.org/C44210515","wikidata":"https://www.wikidata.org/wiki/Q16968978","display_name":"Bespoke","level":2,"score":0.6100903153419495},{"id":"https://openalex.org/C131631996","wikidata":"https://www.wikidata.org/wiki/Q1141325","display_name":"Lumen (anatomy)","level":2,"score":0.5343871116638184},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5140224695205688},{"id":"https://openalex.org/C530470458","wikidata":"https://www.wikidata.org/wiki/Q128581","display_name":"Breast cancer","level":3,"score":0.4661024808883667},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.45373857021331787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4498988687992096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26920419931411743},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24631619453430176},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.24190309643745422},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.22817263007164001},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.19911691546440125},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3068676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068676","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.6800000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W42787064","https://openalex.org/W1515749184","https://openalex.org/W1604037492","https://openalex.org/W1608030567","https://openalex.org/W2035496236","https://openalex.org/W2047751840","https://openalex.org/W2142021573","https://openalex.org/W2149284057","https://openalex.org/W2156218502","https://openalex.org/W2165124024","https://openalex.org/W2220945839","https://openalex.org/W2737491236","https://openalex.org/W2773604239","https://openalex.org/W2783608040","https://openalex.org/W2896056663","https://openalex.org/W2897701932","https://openalex.org/W2919013143","https://openalex.org/W2946871295","https://openalex.org/W2957751887","https://openalex.org/W2968093824","https://openalex.org/W2981053879","https://openalex.org/W2981981438","https://openalex.org/W2999072533","https://openalex.org/W3003868926","https://openalex.org/W3007005079","https://openalex.org/W3034316926","https://openalex.org/W3106042088","https://openalex.org/W3132227494","https://openalex.org/W3151491183","https://openalex.org/W3210103499","https://openalex.org/W4251181231","https://openalex.org/W6601721002","https://openalex.org/W6780049055"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2181465263","https://openalex.org/W3093969907","https://openalex.org/W3202725889","https://openalex.org/W2232750048","https://openalex.org/W2212726445","https://openalex.org/W4244794230","https://openalex.org/W4389712339","https://openalex.org/W3207800763","https://openalex.org/W2806540758"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"MAMMOBOT,":[3],"one":[4],"of":[5,33,39,55,135,150,160],"the":[6,20,23,27,40,53,125,148,154],"first":[7],"millimetre-scale":[8],"steerable":[9],"soft":[10,50],"growing":[11,110],"robots":[12],"for":[13,66,147],"medical":[14],"applications.":[15],"MAMMOBOT":[16,42,70],"aims":[17],"to":[18,30,111],"access":[19],"breast":[21,35,144],"through":[22,91,99],"nipple":[24],"and":[25,63,128,157],"navigate":[26],"mammary":[28],"ducts":[29],"detect":[31],"precursors":[32],"invasive":[34],"cancers.":[36],"Addressing":[37],"limitations":[38],"state-of-the-art,":[41],"maintains":[43],"a":[44,74,92,118,131,142],"hollow":[45],"inner":[46,101],"lumen":[47],"throughout":[48],"its":[49,100,136],"body,":[51],"enabling":[52],"passing":[54],"instruments":[56],"such":[57],"as":[58],"miniature":[59],"endoscopes,":[60],"biopsy":[61],"needles,":[62],"optical":[64],"probes":[65],"in":[67,114],"situ":[68],"histopathology.":[69],"is":[71,89],"developed":[72,146],"by":[73],"novel":[75],"manufacturing":[76],"approach":[77],"entailing":[78],"dual":[79],"LDPE":[80],"sheet":[81],"adhesion":[82],"with":[83,130],"localised":[84],"heat":[85],"treatment.":[86],"MAMMOBOT's":[87],"steerability":[88],"achieved":[90],"sub-millimetre":[93],"profiled":[94],"tendon-driven":[95],"catheter":[96],"that":[97],"passes":[98],"lumen.":[102],"A":[103],"duty":[104],"cycle":[105],"controller":[106],"governs":[107],"steering":[108],"versus":[109],"achieve":[112],"navigation":[113],"complex":[115],"environments":[116],"within":[117],"human-in-the-loop":[119],"framework.":[120],"Benchtop":[121],"experimental":[122,139],"evaluation":[123,140],"demonstrates":[124,153],"robot's":[126],"capabilities":[127],"agreement":[129],"Reduced-Order":[132],"Mode":[133],"(ROM)":[134],"dynamics.":[137],"Finally,":[138],"on":[141],"bespoke":[143],"phantom":[145],"purposes":[149],"this":[151],"project":[152],"clinical":[155],"relevance":[156],"potential":[158],"impact":[159],"MAMMOBOT.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":17},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}