ArticleRobotics and autonomous systems2022
A collaborative robot for COVID-19 oropharyngeal swabbing.
Article in Robotics and autonomous systems, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed.
- Zero-touch laryngoscopy: a six-DOF robotic platform for remote ENT examination.Journal of robotic surgery · 2025Article
- Artificial intelligence in the pre-analytical phase: State-of-the art and future perspectives.Journal of medical biochemistry · 2024Article
- Deep Neural Network-Based Visual Feedback System for Nasopharyngeal Swab Sampling.Sensors (Basel, Switzerland) · 2023Article
- NA-OR: A path optimization method for manipulators via node attraction and obstacle repulsion.Science China. Technological sciences · 2023Article
- Computer-aided methods for combating Covid-19 in prevention, detection, and service provision approaches.Neural computing & applications · 2023Review
Corrections and comments
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Authors and funding
11 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
The coronavirus disease 2019 (COVID-19) outbreak has increased mortality and morbidity world-wide. Oropharyngeal swabbing is a well-known and commonly used sampling technique for COVID-19 diagnose around the world. We developed a robot to assist with COVID-19 oropharyngeal swabbing to prevent frontline clinical staff from being infected. The robot integrates a UR5 manipulator, rigid-flexible coupling (RFC) manipulator, force-sensing and control subsystem, visual subsystem and haptic device. The robot has strength in intrinsically safe and high repeat positioning accuracy. In addition, we also achieve one-dimensional constant force control in the automatic scheme (AS). Compared with the rigid sampling robot, the developed robot can perform the oropharyngeal swabbing procedure more safely and gently, reducing risk. Alternatively, a novel robot control schemes called collaborative manipulation scheme (CMS) which combines a automatic phase and teleoperation phase is proposed. At last, comparative experiments of three schemes were conducted, including CMS, AS, and teleoperation scheme (TS). The experimental results shows that CMS obtained the highest score according to the evaluation equation. CMS has the excellent performance in quality, experience and adaption. Therefore, the proposal of CMS is meaningful which is more suitable for robot-sampling.
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Registered trials
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