A haptic interface robotic measurement system for breast engorgement

Breast engorgement, a potentially harmful condition among new mothers, is difficult to quantify objectively. We propose a system that can precisely quantify breast stiffness as an estimate of engorgement. The table-top system uses a multi-fingered haptic interface robotic hand that can simultaneously measure fingertip force and position with high precision at multiple points. The system includes a support base, power supply, UDP/IP connection, and software for control, data entry and data analysis. The manipulation of the haptic hand is accomplished automatically. We tested the system with a breast exam simulator and found that the stiffness data obtained by the system can be used to objectively estimate breast engorgement.