Um Novo Tomógrafo por Micro-Ondas para Imageamento da Mama Utilizando Braços Robóticos

This work presents a new microwave imaging system for breast imaging that consist of a pair of antennas being automatically positioned around the breast by robotic arms, providing better flexibility to different breast sizes and allowing a bigger number of measuraments when compared to other systems in the literature. The systems retrieves the outer shape of the breast utilizing a depth camera and uses it to position the antennas. The system was capable of autonomously decide the position of the antennas for two breast phantoms with minimum input from operator.