Tele-Operated Oropharyngeal Swab (TOOS) RobotEnabled by TSS Soft Hand for Safe and EffectiveCOVID-19 OP Sampling

Chen, Wei; Zhou, Jianshu; Cheng, Shing Shin; Lu, Yiang; Zhong, Fangxun; Gao, Yuan; Wang, Yaqing; Xue, Lingbin; Tong, Michael C. F.; Liu, Yun-Hui

doi:10.48550/arxiv.2109.09403

Cited by 2 publications

(4 citation statements)

References 28 publications

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“…Although other automated sampling systems have tried to optimize the position of the camera, the limited field of view (FOV) hidden behind the face increases the difficulty of operation [8][9][10][11][12]. The developed system generates a virtual swab within the visually inaccessible area, overcoming the limitations of previous studies.…”

Section: Discussionmentioning

confidence: 99%

“…However, these systems still require a significant human workforce for the preparation of tasks such as attaching, cutting, and disposing of swabs. To overcome these challenges, some studies have expanded the functionality of the robots so that they can replace most of the tasks [8][9][10][11]. These robotic systems are designed to automatically recognize the location of the suspected COVID-19 patients using camera vision and to follow the sampling path.…”

Section: Introductionmentioning

confidence: 99%

“…In particular, the teleoperated system enables nasopharyngeal (NP) sampling, which is more difficult to achieve but has higher diagnostic accuracy than oropharyngeal (OP) sampling [12]. However, with confined images from the camera attached to the end of the manipulator [8][9][10][11]13], teleoperation can lead to incorrect sampling and may damage the nasal vestibule roof and septum, causing severe pain or bleeding [14,15].…”

Section: Introductionmentioning

confidence: 99%

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Deep Neural Network-Based Visual Feedback System for Nasopharyngeal Swab Sampling

Jung,

Moon,

Kim

et al. 2023

Sensors

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During the 2019 coronavirus disease pandemic, robotic-based systems for swab sampling were developed to reduce burdens on healthcare workers and their risk of infection. Teleoperated sampling systems are especially appreciated as they fundamentally prevent contact with suspected COVID-19 patients. However, the limited field of view of the installed cameras prevents the operator from recognizing the position and deformation of the swab inserted into the nasal cavity, which highly decreases the operating performance. To overcome this limitation, this study proposes a visual feedback system that monitors and reconstructs the shape of an NP swab using augmented reality (AR). The sampling device contained three load cells and measured the interaction force applied to the swab, while the shape information was captured using a motion-tracking program. These datasets were used to train a one-dimensional convolution neural network (1DCNN) model, which estimated the coordinates of three feature points of the swab in 2D X–Y plane. Based on these points, the virtual shape of the swab, reflecting the curvature of the actual one, was reconstructed and overlaid on the visual display. The accuracy of the 1DCNN model was evaluated on a 2D plane under ten different bending conditions. The results demonstrate that the x-values of the predicted points show errors of under 0.590 mm from P0, while those of P1 and P2 show a biased error of about −1.5 mm with constant standard deviations. For the y-values, the error of all feature points under positive bending is uniformly estimated with under 1 mm of difference, when the error under negative bending increases depending on the amount of deformation. Finally, experiments using a collaborative robot validate its ability to visualize the actual swab’s position and deformation on the camera image of 2D and 3D phantoms.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Deep Neural Network-Based Visual Feedback System for Nasopharyngeal Swab Sampling

Jung,

Moon,

Kim

et al. 2023

Sensors

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“…Recent advances in soft robotic technology demonstrate a solution for dexterous robotic hand design with intrinsic compliance for safe and effective grasping and manipulation [14][15][16][17][18][19][20][21][22]. These examples provide a promising potential for OP swab sampling with enhanced dexterity and intended safety.…”

Section: Bio-inspired Soft (Bis) Hand For Tele-operated Covid-19 Orop...mentioning

confidence: 99%

Bio-inspired Soft (BIS) Hand for Tele-operated COVID-19 Oropharyngeal (OP) Swab Sampling

Zhou

Chen

Cheng

et al. 2021

2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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The lasting difficulty imposed by the COVID-19 pandemic has made profound challenges to our daily lives. The prominent task to contend with the COVID-19 is the diagnosis of the SARS-CoV-2 virus. The timely diagnosis guides further anti-infection measurements such as effective quarantine and dedicated therapy. Existing diagnosis majorly relies on manual face-to-face Oropharyngeal (OP) and Nasopharyngeal (NP) sampling, which results in high infection risk and heavy working burden to medical staff.Robotic sampling is a promising solution for this challenge because robots are intrinsically immune to viruses and working without fatigue. Following this target, we demonstrate our novel teleoperated OP swab sampling system with excellent safety guarantees, quick deployability, and task efficacy. A bio-inspired soft hand integrated with a soft wrist is developed, which can pick and manipulate the disposable swab as dexterous as a human hand. Stereo imaging is provided to the operator by a terminal binocular camera. The design, working mechanism, and control of our sampling system are discussed. Results show that our proposed robotic sampling system promises safe and effective OP swab sampling to protect medical staff and convenient the sampling process.

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Tele-Operated Oropharyngeal Swab (TOOS) RobotEnabled by TSS Soft Hand for Safe and EffectiveCOVID-19 OP Sampling

Cited by 2 publications

References 28 publications

Deep Neural Network-Based Visual Feedback System for Nasopharyngeal Swab Sampling

Deep Neural Network-Based Visual Feedback System for Nasopharyngeal Swab Sampling

Bio-inspired Soft (BIS) Hand for Tele-operated COVID-19 Oropharyngeal (OP) Swab Sampling

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