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In comparison to prior work, a priority was designing a highly elastic phantom outer layer modulus \u00a020 kPa and inner semi-liquid layer to mimic the difficulties of traversing human breast tissue with autonomous medical robotic systems. In addition, ultrasound images of the novel phantom with enclosed tumor are similar to in vivo image of human breast tissue with invasive ductal carcinoma, representing 80% of breast cancer cases. The performance of a force feedback controller on an autonomous ultrasound scanning system was compared for the novel phantom and a commercial phantom. Overall, the controller performed worse on the novel phantom \u2014 highlighting the importance of testing autonomous systems on realistic phantoms.<\/jats:p>","DOI":"10.1142\/s2424905x22410100","type":"journal-article","created":{"date-parts":[[2022,11,16]],"date-time":"2022-11-16T11:11:17Z","timestamp":1668597077000},"source":"Crossref","is-referenced-by-count":3,"title":["Development and Testing of a Durable and Novel Breast Phantom for Robotic Autonomous Ultrasound Systems"],"prefix":"10.1142","volume":"07","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1370-0036","authenticated-orcid":false,"given":"Siobhan","family":"Rigby Oca","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering and Materials Science, Duke University, 305 Teer Engineering Building, Durham, North Carolina 27708, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Amy","family":"Strong","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Materials Science, Duke University, 305 Teer Engineering Building, Durham, North Carolina 27708, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiselle","family":"Havas","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Materials Science, Duke University, 305 Teer Engineering Building, Durham, North Carolina 27708, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniel M.","family":"Buckland","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Materials Science, Duke University, 305 Teer Engineering Building, Durham, North Carolina 27708, USA"},{"name":"Department of Emergency Medicine, Duke University, 2301 Erwin Road, Durham, North Carolina 27708, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Leila J.","family":"Bridgeman","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Materials Science, Duke University, 305 Teer Engineering Building, Durham, North Carolina 27708, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"219","published-online":{"date-parts":[[2022,12,16]]},"reference":[{"issue":"9","key":"S2424905X22410100BIB001","doi-asserted-by":"crossref","first-page":"657","DOI":"10.1097\/RLI.0000000000000188","volume":"50","author":"Klibanov A. 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