抄録
Among the Japanese women, the disease rate of breast cancer became the most highest one, over ahead of that of stomach cancer around 1997. However, if the cancer is still remained at a small part of breast, thr existence rate is reported to be 92 % that is pretty higher than that of another cancer. It also shows the importance of early detection. Detection of breast cancer is implemented by both palpation diagnosis and Mammography (X-ray photograph of breast). We focused on a palpation diagnosis which requires for a medical doctor to have a highly skilled technique. From a view of medical education, there is strong need for palpation simulator and some equipment using robot technology or VR one are being developed. Actually, some palpation simulators has already come onto the market, but they don't have function to adjust size of position or magnitude of stiffness of lump. In this study, we aim at developing a palpation simulator which has pneumatic cylinder placed in orthogonal axis and realizing high functional palpation diagnosis.
