ArticleIEEE robotics and automation letters2022
Design and Control of a Highly Redundant Rigid-flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling.
Article in IEEE robotics and automation letters, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 14 papers.
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Who cites it
14 citing papers in PubMed.
- Zero-touch laryngoscopy: a six-DOF robotic platform for remote ENT examination.Journal of robotic surgery · 2025Article
- The IoRT-in-Hand: Tele-Robotic Echography and Digital Twins on Mobile Devices.Sensors (Basel, Switzerland) · 2025Article
- A flexible transoral swab sampling robot system with visual-tactile fusion approach.Frontiers in robotics and AI · 2025Article
- Artificial intelligence in the pre-analytical phase: State-of-the art and future perspectives.Journal of medical biochemistry · 2024Article
- Autonomous swab robot for naso- and oropharyngeal COVID-19 screening.Scientific reports · 2024Article
- Swimtrans Net: a multimodal robotic system for swimming action recognition driven via Swin-Transformer.Frontiers in neurorobotics · 2024Article
- Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement.Bioengineering (Basel, Switzerland) · 2023Article
- Constant Force-Tracking Control Based on Deep Reinforcement Learning in Dynamic Auscultation Environment.Sensors (Basel, Switzerland) · 2023Article
- NA-OR: A path optimization method for manipulators via node attraction and obstacle repulsion.Science China. Technological sciences · 2023Article
- Recent Developments of Actuation Mechanisms for Continuum Robots: A Review.International journal of control, automation, and systems · 2023Article
- Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure.Materials (Basel, Switzerland) · 2022Article
- A collaborative robot for COVID-19 oropharyngeal swabbing.Robotics and autonomous systems · 2022Article
- Path planning of a manipulator based on an improved P_RRT* algorithm.Complex & intelligent systems · 2022Article
- Research on Robotic Humanoid Venipuncture Method Based on Biomechanical Model.Journal of intelligent & robotic systems · 2022Article
Corrections and comments
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Authors and funding
12 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
The outbreak of novel coronavirus pneumonia (COVID-19) has caused mortality and morbidity worldwide. Oropharyngeal-swab (OP-swab) sampling is widely used for the diagnosis of COVID-19 in the world. To avoid the clinical staff from being affected by the virus, we developed a 9-degree-of-freedom (DOF) rigid-flexible coupling (RFC) robot to assist the COVID-19 OP-swab sampling. This robot is composed of a visual system, UR5 robot arm, micro-pneumatic actuator and force-sensing system. The robot is expected to reduce risk and free up the clinical staff from the long-term repetitive sampling work. Compared with a rigid sampling robot, the developed force-sensing RFC robot can facilitate OP-swab sampling procedures in a safer and softer way. In addition, a varying-parameter zeroing neural network-based optimization method is also proposed for motion planning of the 9-DOF redundant manipulator. The developed robot system is validated by OP-swab sampling on both oral cavity phantoms and volunteers.
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