ABSTRACT
Oropharyngeal swab sampling is the major viral nucleic acid detection method to diagnose COVID-19. Medical staff exposes themselves to the respiratory secretions of patients, which makes them vulnerable to infection. To protect medical staff, we summarize the clinical requirements for robot into five considerations (standardization, ergonomics, safety, isolation, and task allocation) and developed a remotely operated oropharyngeal swab sampling robot. With robot assistance, spatial isolation between medical staff and the patients can be achieved. We designed a hybrid force/position control scheme for the sampling robot to achieve intuitive operation and stable contact force. The experiment results on phantom tissue show that the sampling robot can achieve intuitive operation and stable contact on the soft posterior pharyngeal. Clinical trials for 20 volunteers and 2 patients diagnosed with COVID-19 are carried out. The results of the clinical trial indicated that the sampling robot can collect samples stably and effectively, and the contact force is gentler and more uniform. For two patients diagnosed with COVID-19, the robot sampling results are consistent with manual sampling. IEEE