Design and Control of a Highly Redundant Rigid-flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling

Yingbai Hu; Jian Li; Yongquan Chen; Qiwen Wang; Chuliang Chi; Heng Zhang; Qing Gao; Yuanmin Lan; Zheng Li; Zonggao Mu; Zhenglong Sun; Alois Knoll

doi:10.1109/LRA.2021.3062336

Design and Control of a Highly Redundant Rigid-flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling

Yingbai Hu
, Jian Li
, Yongquan Chen
, Qiwen Wang
, Chuliang Chi
, Heng Zhang
, Qing Gao
, Yuanmin Lan
, Zheng Li
, Zonggao Mu
, Zhenglong Sun
, Alois Knoll

Informatics 6 - Chair of Robotics, Artificial Intelligence and Real-time Systems

Shenzhen Institute of Artificial Intelligence and Robotics for Society
Technical University of Munich
The Chinese University of Hong Kong, Shenzhen
LonggangDistrict People's Hospital
Chinese University of Hong Kong
Shandong University of Technology

Research output: Contribution to journal › Article › peer-review

58 Scopus citations

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.

Original language	English
Pages (from-to)	1856-1863
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	7
Issue number	2
DOIs	https://doi.org/10.1109/LRA.2021.3062336
State	Published - 1 Apr 2022

Keywords

Deep learning for visual perception
Medical robots and systems
Redundant robots
Task and motion planning

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10.1109/LRA.2021.3062336

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title = "Design and Control of a Highly Redundant Rigid-flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling",

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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AU - Wang, Qiwen

AU - Chi, Chuliang

AU - Zhang, Heng

AU - Gao, Qing

AU - Lan, Yuanmin

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AU - Mu, Zonggao

AU - Sun, Zhenglong

AU - Knoll, Alois

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AB - 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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Design and Control of a Highly Redundant Rigid-flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling

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