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Design and Control of a Highly Redundant Rigid-Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling
arXiv - CS - Systems and Control Pub Date : 2021-02-25 , DOI: arxiv-2102.12726 Yingbai HuChair of Robotics, Artificial Intelligence and Real-time Systems, Technische Universit München, München, GermanyShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Jian LiRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, ChinaShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Yongquan ChenRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, ChinaShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Qiwen WangShenzhen Institute of Artificial Intelligence and Robotics for Society, ChinaRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China, Chuliang ChiShenzhen Institute of Artificial Intelligence and Robotics for Society, ChinaRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China, Heng ZhangShenzhen Institute of Artificial Intelligence and Robotics for Society, ChinaRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China, Qing GaoShenzhen Institute of Artificial Intelligence and Robotics for Society, ChinaRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China, Yuanmin LanLonggang District People's Hospital of Shenzhen, ChinaShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Zheng LiDepartment of surgery, and Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong KongShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Zonggao MuSchool of Mechanical Engineering, Shandong University of Technology, Zibo, ChinaShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Zhenglong SunRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, ChinaShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Alois KnollChair of Robotics, Artificial Intelligence and Real-time Systems, Technische Universit München, München, Germany
arXiv - CS - Systems and Control Pub Date : 2021-02-25 , DOI: arxiv-2102.12726 Yingbai HuChair of Robotics, Artificial Intelligence and Real-time Systems, Technische Universit München, München, GermanyShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Jian LiRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, ChinaShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Yongquan ChenRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, ChinaShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Qiwen WangShenzhen Institute of Artificial Intelligence and Robotics for Society, ChinaRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China, Chuliang ChiShenzhen Institute of Artificial Intelligence and Robotics for Society, ChinaRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China, Heng ZhangShenzhen Institute of Artificial Intelligence and Robotics for Society, ChinaRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China, Qing GaoShenzhen Institute of Artificial Intelligence and Robotics for Society, ChinaRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China, Yuanmin LanLonggang District People's Hospital of Shenzhen, ChinaShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Zheng LiDepartment of surgery, and Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong KongShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Zonggao MuSchool of Mechanical Engineering, Shandong University of Technology, Zibo, ChinaShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Zhenglong SunRobotics and Intelligent Manufacturing & School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, ChinaShenzhen Institute of Artificial Intelligence and Robotics for Society, China, Alois KnollChair of Robotics, Artificial Intelligence and Real-time Systems, Technische Universit München, München, Germany
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.
中文翻译：
辅助COVID-19口咽拭子采样的高冗余刚柔耦合机器人的设计与控制
新型冠状病毒性肺炎（COVID-19）的爆发已导致全球范围内的死亡率和发病率。口咽拭子（OP-swab）采样在世界范围内广泛用于诊断COVID-19。为了避免临床人员受到病毒的感染，我们开发了9自由度（DOF）刚柔耦合（RFC）机器人来协助COVID-19 OP摆形采样。该机器人由视觉系统，UR5机械臂，微型气动执行器和力感测系统组成。该机器人有望降低风险，并使临床人员摆脱长期重复的采样工作。与刚性采样机器人相比，开发的力感RFC机器人可以以更安全，更柔软的方式简化OP摆式采样程序。此外，还提出了一种基于变参数归零神经网络的优化方法，用于9自由度冗余机械臂的运动规划。所开发的机器人系统通过口腔幻影和志愿者上的OP-wab采样进行了验证。
更新日期：2021-02-26
中文翻译：
辅助COVID-19口咽拭子采样的高冗余刚柔耦合机器人的设计与控制
新型冠状病毒性肺炎（COVID-19）的爆发已导致全球范围内的死亡率和发病率。口咽拭子（OP-swab）采样在世界范围内广泛用于诊断COVID-19。为了避免临床人员受到病毒的感染，我们开发了9自由度（DOF）刚柔耦合（RFC）机器人来协助COVID-19 OP摆形采样。该机器人由视觉系统，UR5机械臂，微型气动执行器和力感测系统组成。该机器人有望降低风险，并使临床人员摆脱长期重复的采样工作。与刚性采样机器人相比，开发的力感RFC机器人可以以更安全，更柔软的方式简化OP摆式采样程序。此外，还提出了一种基于变参数归零神经网络的优化方法，用于9自由度冗余机械臂的运动规划。所开发的机器人系统通过口腔幻影和志愿者上的OP-wab采样进行了验证。
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