| 题名 | A Flexible Transoral Robot Towards COVID-19 Swab Sampling |
| 作者 | |
| 通讯作者 | Li，Changsheng |
| 发表日期 | 2021-04-12
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| DOI | |
| 发表期刊 | |
| EISSN | 2296-9144
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| 卷号 | 8 |
| 摘要 | There are high risks of infection for surgeons during the face-to-face COVID-19 swab sampling due to the novel coronavirus’s infectivity. To address this issue, we propose a flexible transoral robot with a teleoperated configuration for swab sampling. The robot comprises a flexible manipulator, an endoscope with a monitor, and a master device. A 3-prismatic-universal (3-PU) flexible parallel mechanism with 3 degrees of freedom (DOF) is used to realize the manipulator’s movements. The flexibility of the manipulator improves the safety of testees. Besides, the master device is similar to the manipulator in structure. It is easy to use for operators. Under the guidance of the vision from the endoscope, the surgeon can operate the master device to control the swab’s motion attached to the manipulator for sampling. In this paper, the robotic system, the workspace, and the operation procedure are described in detail. The tongue depressor, which is used to prevent the tongue’s interference during the sampling, is also tested. The accuracy of the manipulator under visual guidance is validated intuitively. Finally, the experiment on a human phantom is conducted to demonstrate the feasibility of the robot preliminarily. |
| 关键词 | |
| 相关链接 | [Scopus记录] |
| 收录类别 | |
| 语种 | 英语
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| 学校署名 | 其他
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| WOS记录号 | WOS:000643720800001
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| Scopus记录号 | 2-s2.0-85104994897
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| 来源库 | Scopus
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| 引用统计 |
被引频次[WOS]：16
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| 成果类型 | 期刊论文 |
| 条目标识符 | http://sustech.caswiz.com/handle/2SGJ60CL/227744 |
| 专题 | 工学院_电子与电气工程系 工学院_生物医学工程系 |
| 作者单位 | 1.School of Mechatronical Engineering,Beijing Institute of Technology,Beijing,China 2.Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing Institute of Technology,Beijing,China 3.Department of Biomedical Engineering,National University of Singapore,Singapore,Singapore 4.NUS (Suzhou) Research Institute (NUSRI),Suzhou,China 5.Department of Electrical and Electronic Engineering,Southern University of Science and Technology,Shenzhen,China 6.Department of Otolaryngology-Head and Neck Surgery,Singapore General Hospital,Singapore,Singapore 7.Duke-NUS Graduate Medical School,Singapore,Singapore 8.Department of Electronic Engineering,The Chinese University of Hong Kong (CUHK),Hong Kong |
| 推荐引用方式 GB/T 7714 |
Li，Changsheng,Gu，Xiaoyi,Xiao，Xiao,et al. A Flexible Transoral Robot Towards COVID-19 Swab Sampling[J]. Frontiers in Robotics and AI,2021,8.
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| APA |
Li，Changsheng,Gu，Xiaoyi,Xiao，Xiao,Lim，Chwee Ming,Duan，Xingguang,&Ren，Hongliang.(2021).A Flexible Transoral Robot Towards COVID-19 Swab Sampling.Frontiers in Robotics and AI,8.
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| MLA |
Li，Changsheng,et al."A Flexible Transoral Robot Towards COVID-19 Swab Sampling".Frontiers in Robotics and AI 8(2021).
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| 条目包含的文件 | 条目无相关文件。 | |||||
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