A Feasibility Study for Microwave Breast Cancer Detection Using Contrast-Agent-Loaded Bacterial Microbots

Figure 6

(a) Preplanned MTB paths for the system setup in Figure 3(b). (b) Simulated DMI footprints. The MTB injection sites are marked with “∘.” The actual and estimated positions of the MTB during the tracking phase are marked with “▵” and “□,” respectively. The estimated final destination of contrast agent (i.e., DMI footprint “sink”) is marked with “★.” (c) Sensing time versus angular spread 𝜃 and mean step size 𝛽 of the directional random walk for single- and two-swarm administration. The fixed parameter values are 𝛽=100𝜇m in the former and 𝜃=30^∘ in the latter. The markers “×” and “∘” correspond to the sensing time mean and dispersion, respectively.

(a)

(b)

(c)